TWI438356B - Gear device, preferably motor device - Google Patents

Description

Transmission, more preferably motor

The present invention relates to a transmission device, more preferably a motor device. Moreover, in particular, a transmission capable of supplying output rotational power about at least one output axis in response to input rotational power about different axes, more preferably a motor arrangement. Moreover, the present invention relates to a method of providing rotation, and a test apparatus for determining a transmission, more preferably a design and operating parameters of a motor apparatus, and a corresponding method thereof.

When a rotating object is subjected to a moment about an axis perpendicular to the axis of rotation, this causes the axis of rotation itself to rotate about the axis of the axis of the axis of rotation and the axis of rotation simultaneously. It has long been known in instrumentation, and this effect is called precession.

It is an object of the present invention to provide an improved transmission, more preferably a motor arrangement, utilizing the above principles, and a corresponding method for providing rotation by means of the transmission, more preferably the motor arrangement.

This object is achieved in accordance with the present invention by the various ways set forth in the scope of the following claims and described in the specification.

Modes 1 through 4 and mode 15 relate to a solution for a device that is formed as a transmission, more preferably a motor device. Modes 5 through 12 and mode 16 relate to a solution to the method that is formed as a method for providing rotation. Mode 13 relates to a solution for a device that is formed as a test device for determining parameters of the transmission, more preferably the design and operation of the motor device of the present invention. Mode 14 is a solution to a method that is formed into a method for determining parameters of a transmission, more preferably a design and operation of a motor device in accordance with the present invention.

The different ways 1 to 16 are disclosed in the scope of the patent application of the specification, and the independent scope of the patent application is composed of a preamble and a characteristic part, which structure helps to better understand the subject matter of the present invention. Assigning these features to the preface and features does not mean that all features of the preamble are known, and that all features of the feature are novel, or vice versa. The importance of the characteristics of the scope of the patent application is independent of whether these features are in the preface or feature section.

The solution according to the mode 1 is achieved by applying the subject matter of the first item of the patent scope. The subject matter of claim 1 provides a transmission, more preferably a motor arrangement, for providing rotation about at least one of the output axes. The transmission (more preferably a motor device) includes: an object mounted for rotation about a first axis, for rotation about a second axis, and for rotation about a third axis, the first axis being formed relative to the second axis Oriented at an oblique angle, the second axis and/or the third axis forming at least one output axis of the transmission (more preferably a motor device), wherein rotation of the object about the third axis causes a change in the inclination angle; When the first axis is at a selected tilt angle greater than zero degrees and less than 90 degrees with respect to the second axis, a means for applying a moment about the third axis to the object is added in a manner to increase the tilt angle; and Reducing the angle of inclination to rotate about the third axis, such that the angle of inclination of the first axis relative to the second axis is still greater than zero degrees and less than 90 degrees, the transmission is constructed to enable a power source to be coupled to the object, Rotating the object about the first axis, and the object is rotated about the first axis at an angular velocity greater than a critical angular velocity, such that a fixed or decreasing tilt angle is achieved Thereby starting or increasing the output angular velocity and/or the output torque of the object rotating around the second axis and/or the third axis as the at least one output axis, whereby the object has a specific critical angular velocity of less than 20,000 revolutions per minute, thereby Preferably, the output power is increased about the at least one output axis, whereby the specific critical angular velocity is defined as follows: the specific critical angular velocity is the critical angular velocity of the object under the following conditions: when the first axis is opposite to the second When the inclination angle of the axis is 45 degrees; when the first axis passes substantially through the centroid of the object; when the object is oriented such that the moment of inertia of the object is substantially maximum; when the object is not symmetrical to the mass passing through the object And perpendicular to the plane of the first axis, in all possible mounting orientations in which the object is mounted on the first axis, selecting a mounting orientation capable of creating a smaller distance between the centroid of the object and the third axis; a) If the mass of the object is less than 0.1kg, the length of the connecting arm is 5mm, b) if the mass of the object is equal to or greater than 0.1kg and less than 100kg, the length of the connecting arm is 25mm, c) if the mass of the object is equal to or greater than 100kg and less than 1000kg, the length of the connecting arm is 50mm, and d) if the mass of the object is equal to or greater than 1000kg, the length of the connecting arm is 100mm, whereby the length of the connecting arm is a connection The distance of the plane from the intersection of the first axis to the third axis, whereby the connection plane is a plane that intersects the object perpendicular to the first axis and has a minimum distance to the tilt axis.

The solution according to mode 2 is achieved by claiming the scope of claim 26 of the patent scope. The subject matter of claim 26 provides a transmission, more preferably a motor arrangement, for providing rotation about at least one output axis. The transmission (more preferably a motor device) includes: an object mounted for rotation about a first axis, for rotation about a second axis, and for rotation about a third axis, the first axis being oriented relative to the second The axis is at an oblique angle, the second axis and/or the third axis forming at least one output axis of the transmission (more preferably a motor device), wherein rotation of the object about the third axis causes a change in the tilt angle; When the first axis is at a selected tilt angle greater than zero degrees and less than 90 degrees with respect to the second axis, a means for applying a moment about the third axis to the object is added in a manner to increase the tilt angle; and Reducing the rotation of the tilting angle about the third axis such that the angle of inclination of the first axis relative to the second axis is still greater than zero degrees and less than 90 degrees. The transmission is constructed to enable a power source to be coupled to the object, and Rotating the object about the first axis and rotating the object at an angular velocity greater than a critical angular velocity about the first axis, such that a fixed or decreasing tilt angle is achieved Thereby starting or increasing the output angular velocity and/or the output torque of the object rotating around the second axis and/or the third axis as the at least one output axis, thereby applying a moment vector applied to the object around the third axis and The angle between the output angular velocity vectors of the second axis is between 85 and 93 degrees, preferably approximately 90 degrees.

If the angle between the moment vector applied to the object about the third axis and the output angular velocity vector about the second axis is between 85 and 93 degrees, and preferably close to 90 degrees, then The output powertrain supplied by the at least one output axis is increased. When the angle between the moment vector applied to the object about the third axis (ie, the applied moment vector) and the output motion vector is greater than 90 degrees, even if the tilt angle is fixed, the object may not be completely stopped to reduce The manner of the tilt angle rotates about the third axis, thereby reducing the output torque.

The solution according to mode 3 is achieved by applying the subject matter of item 30 of the patent scope. The subject matter of claim 30 provides a transmission, more preferably a motor arrangement, for providing rotation about at least one output axis. The transmission (more preferably a motor device) includes: an object mounted for rotation about a first axis, for rotation about a second axis, and for rotation about a third axis, the first axis being oriented relative to the second axis Forming a tilt angle, the second axis and/or the third axis forming at least one output axis of the transmission (more preferably, the motor device), wherein the rotation of the object about the third axis causes a change in the tilt angle; When an axis is at a selected tilt angle greater than zero degrees and less than 90 degrees with respect to the second axis, a means for applying a moment about the third axis to the object is added in a manner that increases the tilt angle; and for limiting the object to reduce The means for rotating the tilting angle about the third axis causes the tilt angle of the first axis to be greater than zero degrees and less than 90 degrees with respect to the second axis, the transmission being constructed to enable a power source to be coupled to the object, Rotating the object about the first axis and rotating the object at an angular velocity greater than a critical angular velocity about the first axis, such that a fixed or decreasing tilt is achieved An angle, thereby initiating or increasing an output angular velocity and/or an output torque of the object rotating about the second axis and/or the third axis as the at least one output axis, additionally comprising one or more sensors for measuring the following One or more parameter values: rotation about the first axis and/or the second axis and/or the third axis, angular velocity of rotation about the first axis and/or the second axis and/or the third axis, the object And/or the position of the first axis and/or the second axis and/or the third axis, the rotational moment about the first axis and/or the second axis and/or the third axis, and the force.

The solution according to mode 4 is achieved by claiming the scope of claim 31. The subject matter of claim 31 provides a transmission, more preferably a motor arrangement, for providing rotation about at least one of the output axes. Preferably, the transmission, more preferably the motor device, includes: an object mounted for rotation about the first axis, for rotation about the second axis, and for rotation about the third axis, the first axis being oriented in a direction relative to the second axis a tilt angle, a second axis and/or a third axis forming at least one output axis of the transmission (more preferably a motor device), wherein rotation of the object about the third axis causes a change in the tilt angle; When the axis is at a selected tilt angle greater than zero degrees and less than 90 degrees with respect to the second axis, a means for applying a moment about the third axis to the object is added in a manner to increase the tilt angle; and for limiting the object to reduce tilt The rotation of the angle about the third axis causes the angle of inclination of the first axis relative to the second axis to be greater than zero degrees and less than 90 degrees. The transmission is constructed to enable a power source to be attached to the object. The object rotates about the first axis and rotates at an angular velocity greater than a critical angular velocity about the first axis such that a fixed or decreasing tilt angle is achieved, Thereby starting or increasing the output angular velocity and/or the output torque of the object rotating around the second axis and/or the third axis as the at least one output axis, further comprising a means for using the lower limit angle value and the upper limit angle value Mechanically restricting rotation of the object about the tilt axis; and means for adjusting the limit angle values to greater than zero degrees and less than 90 degrees during operation of the transmission (more preferably, the motor means) The selected lower limit value and the upper limit angle value greater than the selected lower limit value and less than 90 degrees.

The solution according to mode 5 is achieved by applying the subject matter of claim 39. The subject matter of claim 39 provides a method for rotating about at least one output axis, preferably providing a method of rotating about at least one output axis of a transmission, more preferably a motor unit. The method includes the steps of: mounting an object for rotation about a first axis, rotating about a second axis, and rotating about a third axis, the first axis being oriented at an oblique angle relative to the second axis, second The axis and/or the third axis form the at least one output axis, wherein rotation of the object about the third axis causes a change in the tilt angle; rotating the object about the first axis at an angular velocity greater than a critical angular velocity; Applying a moment about the third axis to the object by increasing the tilt angle when the selected angle is greater than zero degrees and less than 90 degrees with respect to the second axis; and, by limiting the object to reduce the tilt angle The rotation of the third axis causes the inclination angle of the first axis relative to the second axis to be still greater than zero degrees and less than 90 degrees so as to achieve a fixed or decreasing inclination angle, thereby starting or increasing the output angular velocity and/or object winding The output axis of the second axis and/or the third axis is rotated as the at least one output axis; the method further comprises the following steps: using a tool An object having a specific critical angular velocity of less than 20,000 revolutions per minute, thereby preferably increasing the output power about the at least one output axis, whereby the particular critical angular velocity is defined as follows: the specific critical angular velocity is the object under the following conditions Critical angular velocity, and these conditions include: when the first axis is inclined at 45 degrees with respect to the second axis; when the first axis passes substantially through the centroid of the object; when the object is oriented such that the moment of inertia of the object is substantially When the upper is maximum; if the object is not symmetrical to the plane passing through the centroid of the object and perpendicular to the first axis, among all possible mounting orientations in which the object is mounted on the first axis, one can be selected at the centroid of the object a mounting orientation that produces a small distance from the third axis, and when a) if the mass of the object is less than 0.1 kg, the length of the connecting arm is 5 mm, b) if the mass of the object is equal to or greater than 0.1 kg and less than 100 kg, the length of the connecting arm 25mm, c) if the mass of the object is equal to or greater than 100kg and less than 1000kg, the length of the connecting arm is 50mm, and d) if the mass of the object is equal to or greater than 1000kg, The length of the connecting arm is 100 mm, whereby the length of the connecting arm is the distance between the connecting plane and the intersection of the first axis and the third axis, whereby the connecting plane is perpendicular to the first axis, intersects with the object, and The plane of the tilt axis has the smallest distance.

The solution according to mode 6 is achieved by applying the subject matter of item 57 of the patent. The subject matter of claim 57 provides a method for rotation about at least one output axis, preferably a method of providing rotation about at least one output axis of a transmission, more preferably a motor device. The method includes the steps of: mounting an object for rotation about a first axis, rotating about a second axis, and rotating about a third axis, the first axis being oriented at an oblique angle relative to the second axis, second The axis and/or the third axis form the at least one output axis, wherein rotation of the object about the third axis causes a change in the tilt angle; rotating the object about the first axis at an angular velocity greater than a critical angular velocity; When a selected tilt angle is greater than zero degrees and less than 90 degrees with respect to the second axis, a moment about the third axis is applied to the object by increasing the tilt angle; the object is restrained to reduce the tilt angle. The rotation of the three axes causes the inclination angle of the first axis relative to the second axis to be still greater than zero degrees and less than 90 degrees so as to achieve a fixed or decreasing inclination angle, thereby starting or increasing the output angular velocity and/or the object around the The output axis of the two axes and/or the third axis rotating as the at least one output axis; in addition, the method further comprises: at least partially by the weight of the object, A moment about the third axis is applied to the object.

The solution according to mode 7 is achieved by applying the subject matter of item 58 of the patent. The subject matter of claim 58 relates to a method for providing rotation about at least one output axis, preferably a method of providing rotation about at least one output axis of a transmission, more preferably a motor device. . The method includes the steps of: mounting an object for rotation about a first axis, rotating about a second axis, and rotating about a third axis, the first axis being oriented at an oblique angle relative to the second axis, second The axis and/or the third axis form the at least one output axis, wherein rotation of the object about the third axis causes a change in the tilt angle; rotating the object about the first axis at an angular velocity greater than a critical angular velocity; When a selected tilt angle is greater than zero degrees and less than 90 degrees with respect to the second axis, a moment about the third axis is applied to the object by increasing the tilt angle; the object is restrained to reduce the tilt angle. The rotation of the three axes causes the inclination angle of the first axis relative to the second axis to be still greater than zero degrees and less than 90 degrees so as to achieve a fixed or decreasing inclination angle, thereby starting or increasing the output angular velocity and/or the object around the a second axis and/or a third axis as an output torque that rotates the at least one output axis; wherein the method additionally comprises measuring one or more parameter values below The steps of: rotation about the first axis and/or the second axis and/or the third axis, angular velocity of rotation about the first axis and/or the second axis and/or the third axis, objects, and/or The position of an axis and/or the second axis and/or the third axis, the rotational moment about the first axis and/or the second axis and/or the third axis, and the force.

The solution according to mode 8 is achieved by applying the subject matter of item 59 of the patent scope. The subject matter of claim 59 provides a method for rotation about at least one output axis, preferably a method of providing rotation about at least one output axis of a transmission, more preferably a motor device. The method includes the steps of: mounting an object for rotation about a first axis, rotating about a second axis, and rotating about a third axis, the first axis being oriented at an oblique angle relative to the second axis, second The axis and/or the third axis form the at least one output axis, wherein rotation of the object about the third axis causes a change in the tilt angle; rotating the object about the first axis at an angular velocity greater than a critical angular velocity; When a selected tilt angle is greater than zero degrees and less than 90 degrees with respect to the second axis, a moment about the third axis is applied to the object by increasing the tilt angle; the object is restrained to reduce the tilt angle. The rotation of the three axes causes the inclination angle of the first axis relative to the second axis to be still greater than zero degrees and less than 90 degrees so as to achieve a fixed or decreasing inclination angle, thereby starting or increasing the output angular velocity and/or the object around the a second axis and/or a third axis as an output torque of the at least one output axis; wherein the method further comprises the steps of: Mechanically limiting the rotation of the object about the tilt axis with respect to both of the upper limit angle values; and adjusting the limit angle values to a greater than zero degree and less than 90 degrees during operation of the transmission (more preferably a motor device) The lower limit value is selected, and an upper limit angle value greater than the selected lower limit value and less than 90 degrees is selected.

The solution according to mode 9 is achieved by applying the subject matter of item 60 of the patent scope. The subject matter of claim 60 relates to a method for providing rotation about at least one output axis, preferably a method of providing rotation about at least one output axis of a transmission, more preferably a motor device. . The method includes the steps of: mounting an object for rotation about a first axis, rotating about a second axis, and rotating about a third axis, the first axis being oriented at an oblique angle relative to the second axis, second The axis and/or the third axis form the at least one output axis, wherein rotation of the object about the third axis causes a change in the tilt angle; rotating the object about the first axis at an angular velocity greater than a critical angular velocity; When a selected tilt angle is greater than zero degrees and less than 90 degrees with respect to the second axis, a moment about the third axis is applied to the object by increasing the tilt angle; the object is restrained to reduce the tilt angle. The rotation of the three axes causes the inclination angle of the first axis relative to the second axis to be still greater than zero degrees and less than 90 degrees so as to achieve a fixed or decreasing inclination angle, thereby starting or increasing the output angular velocity and/or the object around the The output axis of the second axis and/or the third axis is rotated as the at least one output axis; the method further comprises the following steps: by reducing the quality of the object The distance between the core and the second axis increases the output power supplied about the at least one output axis.

The solution according to mode 10 is achieved by applying the subject matter of item 61 of the patent scope. The subject matter of claim 61 relates to a method for providing rotation about at least one output axis, preferably a method of providing rotation about at least one output axis of a transmission, more preferably a motor device. . The method includes the steps of: mounting an object for rotation about a first axis, rotating about a second axis, and rotating about a third axis, the first axis being oriented at an oblique angle relative to the second axis, second The axis and/or the third axis form the at least one output axis, wherein rotation of the object about the third axis causes a change in the tilt angle; rotating the object about the first axis at an angular velocity greater than a critical angular velocity; When a selected tilt angle is greater than zero degrees and less than 90 degrees with respect to the second axis, a moment about the third axis is applied to the object by increasing the tilt angle; the object is restrained to reduce the tilt angle. The rotation of the three axes causes the inclination angle of the first axis relative to the second axis to be still greater than zero degrees and less than 90 degrees so as to achieve a fixed or decreasing inclination angle, thereby starting or increasing the output angular velocity and/or the object around the a second axis and/or a third axis as an output torque that rotates the at least one output axis; wherein the method additionally comprises the step of: reducing the first frame An angular change between a normal vector of the plane and a normal vector of the second frame plane, and increasing the output power supplied about the at least one output axis, the frame plane being defined as a transmission through which the transmission is mounted The plane of the three points that are not collinear on the frame (more preferably a motor unit).

11 solutions based on the way the Department of the subject patent application by the scope and reach of the first 63. The subject matter of claim 63 relates to a method for providing rotation about at least one output axis, preferably a method of providing rotation about at least one output axis of a transmission, more preferably a motor device. . The method includes the steps of: mounting an object for rotation about a first axis, rotating about a second axis, and rotating about a third axis, the first axis being oriented at an oblique angle relative to the second axis, second The axis and/or the third axis form the at least one output axis, wherein rotation of the object about the third axis causes a change in the tilt angle; rotating the object about the first axis at an angular velocity greater than a critical angular velocity; When a selected tilt angle is greater than zero degrees and less than 90 degrees with respect to the second axis, a moment about the third axis is applied to the object by increasing the tilt angle; the object is restrained to reduce the tilt angle. The rotation of the three axes causes the inclination angle of the first axis relative to the second axis to be still greater than zero degrees and less than 90 degrees so as to achieve a fixed or decreasing inclination angle, thereby starting or increasing the output angular velocity and/or the object around the a second axis and/or a third axis as an output torque that rotates the at least one output axis; wherein the method further comprises the step of: reducing the Having an angular change between an output angular velocity vector of the output axis and a normal vector of a frame plane, and increasing the output power supplied about the at least one output axis, the frame plane being defined as a transmission through which the transmission is mounted The plane of the three points that are not collinear on the frame (more preferably a motor unit).

The solution according to the method 12 is achieved by applying the subject matter of the 65th patent. The subject matter of claim 65 is directed to a method for providing rotation about at least one output axis, preferably a method of providing rotation about at least one output axis of a transmission, more preferably a motor device. . The method includes the steps of: mounting an object for rotation about a first axis, rotating about a second axis, and rotating about a third axis, the first axis being oriented at an oblique angle relative to the second axis, second The axis and/or the third axis form the at least one output axis, wherein rotation of the object about the third axis causes a change in the tilt angle; rotating the object about the first axis at an angular velocity greater than a critical angular velocity; When a selected tilt angle is greater than zero degrees and less than 90 degrees with respect to the second axis, a moment about the third axis is applied to the object by increasing the tilt angle; the object is restrained to reduce the tilt angle. The rotation of the three axes causes the inclination angle of the first axis relative to the second axis to be still greater than zero degrees and less than 90 degrees so as to achieve a fixed or decreasing inclination angle, thereby starting or increasing the output angular velocity and/or the object around the a two-axis and/or a third axis as an output torque of the at least one output axis; wherein the method further comprises the step of: reducing the object around An angular change between the angular velocity vector of the angular motion of the first axis and the normal vector of an object plane, and the output power supplied around the at least one output axis is defined, the object plane being defined as a non-collinear line passing through the object The plane of the three points.

The solution according to mode 13 is achieved by applying the subject matter of claim 67. Patent Application No. 67 is directed to a test apparatus for determining the design and operation parameters of a transmission (more preferably a motor unit), wherein the transmission (more preferably a motor unit) comprises: an output shaft, It is firmly connected to an outer bracket; a spin axis which is an axis of rotation of an object arranged in the inner bracket; and a tilt axis perpendicular to the output shaft, whereby the spin axis can be rotated, spin An angle of inclination is formed between the axis and the output shaft, the spin axis being jointly coupled to an object and applying a moment about the tilt axis. The test apparatus comprises: an output axis forming a longitudinal axis of a vertical output shaft; a spin axis forming an axis of rotation of the object supported on the spin axis; a tilt axis perpendicular to the output axis and can spin about a pivot axis between the spin axis and the inclination angle of the output shaft is formed, whereby the object may be configured as an eccentric tilt axis, thereby forming a length l is greater than zero with respect to the lever arm.

The solution according to mode 14 is achieved by applying the standard of item 68 of the patent application. The subject matter of claim 68 provides a method for determining the design and operating parameters of a transmission, more preferably a motor unit, wherein the transmission (more preferably a motor unit) comprises: an output shaft that is securely Connected to an outer bracket; a spin axis which is an axis of rotation of an object rotatably disposed in the inner bracket; and a tilt axis perpendicular to the output shaft, whereby the spin axis can be rotated and An angle of inclination is formed between the axis of rotation and the output shaft, the spin axis being jointly coupled to an object and applying a moment about the axis of inclination. Wherein the test device as described in claim 67 is used, and thereby the angular velocity of the object about the spin axis can be adjusted to different values, thereby determining by rotating the spin axis about the tilt axis. It is judged for each different value whether the adjusted angular velocity is greater than or less than a critical angular velocity.

The solution according to mode 15 is achieved by claiming the scope of claim 69. The subject matter of claim 69 provides a transmission, more preferably a motor arrangement, for providing rotation about at least one output axis. The apparatus includes: an object mounted for rotation about a first axis, for rotation about a second axis, and for rotation about a third axis, the first axis being oriented at an oblique angle relative to the second axis, second The axis forms at least one output axis of the device, wherein rotation of the object about the third axis causes a change in the tilt angle; for when the first axis is at a selected tilt angle greater than zero degrees and less than 90 degrees relative to the second axis a means for applying a moment about the third axis to the object in a manner that increases the angle of inclination; and means for restricting rotation of the object about the third axis in a manner that reduces the angle of inclination, such that the first axis is relative to The angle of inclination of the second axis is still greater than zero degrees and less than 90 degrees. The device is constructed to enable a power source to be coupled to the object such that the object rotates about the first axis and the object is greater than the first axis An angular velocity of a critical angular velocity is rotated so as to achieve a fixed or decreasing tilt angle whereby the output angular velocity is initiated or increased and/or the object is rotated about the second axis. Output torque, whereby when the tilt angle is made to reduce power about the third axis, the load applied to the third axis may be used as the limiting means.

The solution according to mode 16 is achieved by claiming the scope of claim 70. The subject matter of claim 70 relates to a method for providing rotation about at least one output axis, the method comprising the steps of: mounting an object for rotation about a first axis, rotating about a second axis Rotating about a third axis, the first axis being oriented at an oblique angle with respect to the second axis, the second axis and/or the third axis forming the at least one output axis, wherein rotation of the object about the third axis causes a change in the tilt angle; rotating the object about the first axis at an angular velocity greater than a critical angular velocity; increasing the tilt angle when the first axis is at a selected tilt angle greater than zero degrees and less than 90 degrees relative to the second axis Applying a moment about the third axis to the object; limiting the rotation of the object about the third axis in a manner that reduces the angle of inclination, such that the angle of inclination of the first axis relative to the second axis is still greater than zero degrees and less than 90 degrees, Thereby starting or increasing the output angular velocity and/or the output torque of the object rotating about the second axis; wherein the method additionally comprises the following steps: when tilting It is being reduced, by limiting the object to reduce the angle of inclination rotatably about a third axis, the third axis about the acquired power.

With respect to modes 15 and 16, a description will be made as follows: When the device is in a regime state, it is provided to utilize an output load to limit the rotation of the object about the third axis and to generate power about the third axis. When power is generated about the third axis, the object rotates about the third axis in a manner that reduces the tilt angle. This method can only be used when the tilt angle is between zero and 90 degrees. In order to continue this method, there should be two different cycles. The first cycle: an output load is used to limit the rotation of the object about the third axis and to generate power about the third axis. The second cycle: using an output load or brake mechanism to limit the rotation of the object about the second axis, increasing the tilt angle. By repeating these cycles one after the other in a cycle (Cycle 1, Cycle 2, Cycle 1, Cycle 2), continuity of power generation from the device can be provided. When a brake mechanism is used to limit the rotation of the object about the second axis, the power can only be generated about the third axis. When an output load is used instead of the brake mechanism to limit the rotation of the object about the second axis, Both the two axes and the third axis generate power. For example, when a pneumatic pump between the output shaft and the inner bracket is used to restrict the rotation of the object about the third axis, the first period is rotated because the object rotates around the third axis to reduce the tilt angle. The piston defined as a pump is compressed. In this first cycle, pressurized air is delivered to a turbine so that power can be generated by rotating the turbine. The second cycle is defined to decompress the piston of the pump by utilizing a brake mechanism or any rotational output load such as a hydraulic pump to limit rotation of the object about the second axis. During this cycle, air enters the piston of the pump from the outside, and this period is considered to be the intake cycle of the pump.

A transmission (more preferably a motor) can be used as a transmission and/or motor. In this context, "motor" should not be interpreted as a motor that converts non-mechanical energy into mechanical energy (eg, a gasoline motor or an electric motor). Here, the term "motor" should not be interpreted as a motor that converts mechanical energy into mechanical energy (like a hydraulic motor). When referring to a transmission herein, the term "motor" should be interpreted to include a transmission (more preferably a motor).

The inventors of the present invention have found that when the axis of rotation of an object (hereinafter also referred to as a first axis or a spin axis) is restricted to rotate about the following axis:

a) a second axis that is at an acute angle to the axis of rotation of the object (hereinafter also referred to as a tilt angle);

b) a third axis (hereinafter also referred to as a tilt axis) that is substantially perpendicular to both the first axis and the second axis, wherein a moment applied about the tilt axis causes the first axis to be increased by increasing the acute angle Rotate about the second axis.

When the rotational speed of the object exceeds a certain critical value, the applied torque generates a reaction torque that is greater than the magnitude of the applied torque. Moreover, this reaction torque is also around the tilt axis, but is applied in the opposite way. This reaction torque rotates the first axis about the tilt axis to reduce the tilt angle. However, if rotation about the tilt axis is limited by, for example, mechanical means, the rotational speed of the object about the second axis is increased, thereby creating a useful source of power. It is to be understood that with such a system, the means for limiting the rotation about the tilt axis does not require an energy source, thereby enhancing the efficiency of the transmission.

To understand these effects, it is helpful to consider the following situations when the object is rotating around the first axis at different angular velocities:

(i) in the trivial situation, the object does not rotate completely around the first axis, applying a moment about the tilt axis in such a way as to increase the magnitude of the acute angle, and only tilting the first axis by increasing the tilt angle The axis produces a corresponding rotation.

(ii) If the object rotates at an angular velocity less than the critical angular velocity (=critical rotational speed) (= rotational speed), the first axis produces two rotations: not only the first axis rotates around the tilt axis in a manner that increases the tilt angle This is like the case of an unrotated object (i), where the first axis also rotates about the second axis. This effect is known as "precession". As the rotational speed of the object increases, the rotational speed of the first axis about the tilt axis decreases, whereas the rotational speed of the first axis about the second axis increases.

(iii) When the rotational speed of the object is equal to the critical angular velocity, the first axis will still rotate about the second axis, but the first axis will no longer produce any rotation about the tilt axis.

(iv) if the object is rotated at an angular velocity above the critical angular velocity, the first axis has two rotations again, that is, about the second axis and the tilt axis, but in this case, the rotation about the tilt axis is The way to reduce the tilt angle. Only when the rotational speed of the object is above the critical angular velocity, the conveyor can provide useful rotational (primary) power about the second axis and/or the tilting axis, either or both of the second axis, the tilting axis can act as a transmission Output axis.

If the object is rotated about the first axis at an angular velocity above the critical angular velocity, the transmission provides an output motion (=rotation) about the second axis and/or an output motion (=rotation) about the third axis. These two rotation scenarios are characterized by individual angular velocities and individual moments, respectively. In the case where the object is rotated about the first axis at an angular velocity above the critical angular velocity, the rotation of the object about the third axis in a manner that reduces the tilt angle is also referred to as a reaction motion. The angular velocity of this reactional motion is also referred to as the reaction velocity, and the moment of the reaction motion is also referred to as the reaction torque.

It has been found that the critical angular velocity of an object varies according to the following factors: the geometry of the object, the material density of the object, the angle of inclination, the amount of moment applied to the object about the third axis, and such as ambient temperature and humidity. Environmental conditions.

The inventors of the present invention have found from the experiment that the output power is generated by the input power supplied to the object for rotation, which is in the form of rotating the object around the output axis with a relatively high efficiency. Therefore, the transmission produced according to this principle would be a very special device, the at least one output axis being the second axis and/or the third axis.

The inventor of the present invention has found that with this configuration, the efficiency of the transmission is quite high. Moreover, the torque applying means is conveniently used as a switch for initiating an output power supply.

The limiting means is for preventing the object from rotating about the third axis in a manner that reduces the tilt angle. As described above, since the rotation restricting means does not need to be moved, it can be constituted by a mechanical means (for example, a stopper) which does not require an energy source alone, thereby contributing to high efficiency of the transmission.

The power source can be coupled to the object whereby the object is rotated about the first axis at a rotational speed that exceeds the critical angular velocity. Alternatively, the object can also be manually rotated about the spin axis.

When a moment is applied to the object about the third axis to increase the angle of inclination, a force field is created on the object. For example, for a cylindrical object having a thickness dx, the shape of the force field is the same as the shape of the force field occurring on the circular section of the rod subjected to the force bending. This force field combined with the rotation of the object about the first axis can constitute a motion, and the transmission efficiency is defined as the efficiency of the motion transmitted by the force field to the output motion about the second axis. Increasing transmission efficiency increases the output torque (ie, the torque provided around the output axis) and enhances the efficiency of the transmission. Transmission efficiency is related to two factors: the varying forces (which vary in force in the direction of the component), the strength of the component materials acting on the transmission, and the strength of the shape throughout the components.

If the object rotates about the third axis, this will result in a change in the tilt angle, meaning that the tilt angle changes, that is, the tilt angle will increase or decrease.

The length of the connecting arm is defined as the distance between the connecting plane and the intersection of the first axis to the third axis, preferably the pivoting center pivotally mounted about the second axis. There are an infinite number of planes that can intersect the object and are perpendicular to the spin axis, in which a plane having a minimum distance from the third axis (preferably the pivot center) is defined as the joint plane.

In order to measure a specific critical speed of an object, the object must be mounted to the test device according to mode 13, resulting in

a) the spin axis passes through the centroid of the object,

b) the spin axis is oriented to maximize the moment of inertia, and

c) If the object is not symmetrical to the central plane (through the centroid of the object and perpendicular to the plane of the first axis), the centroid of the object and the third axis should be used in two possible mounting orientations (preferably A mounting orientation with a small distance between the pivot centers).

Other advantages of modes 1 through 14 can be achieved by embodiments of the invention as set forth in the appended claims.

With respect to modes 1 and 5, when the tilt axis of the first axis with respect to the second axis is 80 degrees instead of 45 degrees, another way is provided to determine a particular critical angular velocity. If the friction against the rotation about the spin axis 4 is high, the torque transmission rate from the spin axis to the second axis caused by the friction against the rotation about the spin axis is reduced by 80 degrees. The configuration can be used to increase and check/verify the measurement accuracy of a particular critical angular velocity.

A preferred embodiment of modes 1 and 5 is provided if the object has a specific critical angular velocity of less than 15,000 revolutions per minute. Another preferred embodiment of modes 1 and 5 is provided if the object has a specific critical angular velocity of less than 10,000 revolutions per minute. Yet another preferred embodiment of modes 1 and 5 is provided if the object has a particular critical angular velocity of less than 5000 revolutions per minute. All of the above specified ranges of critical angular velocities can be implemented in combination in all of the patented scope items.

Since the spin speed of the object must be forced to be greater than the critical speed of the object during operation of the transmission, it has a greater specific critical speed than an object with a lower specific critical speed. The object must rotate at a higher speed. It is advantageous to rotate an object at a small spin speed because the loss of friction (eg, air friction, bearing friction) is known to increase exponentially with spin speed. Moreover, a higher spin speed in the transmission (more preferably a motor unit) requires that the strength of the motor must be higher, which increases the manufacturing cost of the transmission, more preferably the motor unit.

For cylindrical objects of the same density, the specific critical angular velocity of the object increases as the ratio of the object diameter to the thickness of the object (the height of the cylinder) decreases.

For two different objects of the same mass, the same thickness (height), the same density but different shapes, that is to say one cylindrical and the other annular, the annular object has a smaller critical angular velocity.

Objects with large masses and large volumes may not have a very high critical angular velocity, which means that there is no need for a positive correlation between parameters such as "special critical angular velocity of the object" and "mass and volume of the object". .

A preferred embodiment of modes 1 through 4 is provided wherein the transmission includes a power source coupled to the object for rotation about the first axis at an angular velocity greater than the critical angular velocity.

A preferred embodiment of modes 1 through 4 is provided wherein the transmission includes a feedback means for transmitting power from the movement of the object about the at least one output axis to the source of power. In this way, at least a portion of the output power (defined as the product of the output torque and the output rotational speed) can be fed back into the transmission. This feedback means is preferably configured to transmit sufficient power to the power source to overcome energy losses due to frictional forces as the object rotates about the first axis in the operational state. The regime state is defined as a state when the inclination angle is a fixed value, the magnitude of the moment applied to the third axis is a fixed value, and the output angular velocity about the at least one output axis is a fixed value.

A preferred embodiment of modes 1 through 4 is provided wherein the transmission includes a control means for controlling the power source to rotate the object about the first axis at a rotational speed that exceeds the critical angular velocity.

A preferred embodiment of modes 1 through 4 is provided wherein the moment applying means is configured to apply a moment when the selected tilt angle is between 10 and 80 degrees.

The means for applying a moment may comprise a spring. Additionally or alternatively, the means for applying a torque may include one or more of a hydraulic ram, a pneumatic ram, and an electromagnetic ram.

A preferred embodiment of modes 1 to 4 is provided wherein the transmission includes a control means for controlling the magnitude of the torque applied by the torque applying means.

A preferred embodiment of modes 1 through 4 is provided in which a restriction means is provided for limiting the rotation of the object about the third axis such that the angle of inclination of the first axis relative to the second axis is greater than 10 degrees and less than 80 degrees.

An optimum angle of inclination has been found which is related to a number of factors: the desired output torque of the transmission and the desired angular velocity of the transmission. For example, when the tilt angle is close to zero, the output torque about the second axis is at a minimum, but the rotational speed about the second axis is a maximum. Conversely, when the tilt angle is close to 90 degrees, the output torque about the second axis is the maximum, but the rotational speed about the second axis is the minimum. Since the output power of the transmission is the product of the output torque and the output rotation speed, in order to maximize the output power, a tilt angle must be selected so that the product of the output torque and the output rotation speed is maximized.

A preferred embodiment of modes 1 through 4 is provided wherein the transmission includes an adjustment means for adjusting the tilt angle. In this case, a means can also be provided for selecting the desired output speed of the transmission and/or the desired output torque and adjusting the tilt angle accordingly.

A preferred embodiment of modes 1 through 4 is provided, provided that the transmission includes means for selecting the desired angular velocity of the transmission and for adjusting the tilt angle based on the selected output angular velocity.

A preferred embodiment of modes 1 through 4 is provided, provided that the transmission includes means for selecting the desired output torque of the transmission and for enabling the adjustment means to adjust the tilt angle based on the selected output torque.

A preferred embodiment of modes 1 through 4 is provided, provided that the limiting means is configured to prevent the object from rotating about the third axis in a manner that reduces the tilt angle.

A method of applying a moment is applied to apply a moment to the object about the tilt axis to increase the tilt angle. Preferably, the means for applying a torque can allow the amount of torque to be controlled during operation of the transmission by a control unit. If the means for applying a moment (for example, a hydraulic ram) is controlled by a suitable control unit, the means for applying the moment may additionally serve as a limiting means for limiting the reaction movement about the tilt axis, and further The desired output speed and/or output torque and/or the desired reaction speed/reaction torque are adjusted to a desired value. In this way, a preferred embodiment of modes 1 to 4 is provided in which the means for applying a moment is additionally used as a limiting means.

The means for applying a moment is for applying a moment to the rotating shaft, whereby the object can be rotated about the third axis in a manner that increases the tilt angle. This means of applying a torque is additionally used to prevent the object from rotating about the tilt axis relative to the applied torque. The means of applying a moment can also be used to adjust the tilt angle to a desired value corresponding to the desired output motion speed/output torque and/or the desired reaction speed/reaction torque.

To apply a moment to the object about the tilt axis in a manner that increases the tilt angle, to limit the reaction motion to reduce the tilt angle, and to adjust the tilt angle to a desired output speed/output torque and/or The desired value of the desired reaction/reaction torque, the operation of which is controlled by an appropriate control unit, the input signal from the sensor (eg position, motion, speed, touch and force signals) ) is supplied to the control unit. The control signal generated by the control unit in response to the input signal may affect the means for applying the moment to adjust the magnitude of the moment applied to the object about the tilt axis, limit the reaction motion, and adjust the tilt angle to the desired value.

A preferred embodiment of modes 1 through 4 is provided, provided that the restriction means comprises a separate abutment. Preferably, the abutment is a means by which the object can be rotated about the tilting axis without consuming energy, such as a stop or bolt.

A preferred embodiment of modes 1 through 4 is provided, provided that the first axis passes substantially through the centroid of the object and the object is oriented such that its moment of inertia is substantially maximum.

A first preferred embodiment of modes 1 through 4 is provided, provided that the first axis and the second axis intersect each other. Preferably, either or both of the first axis or/and the second axis substantially pass through the center of mass of the object. The distance between the center of mass of the object and the second axis is reduced, and the change in the distance is kept as small as possible, so that the output power can be increased and the efficiency can be enhanced. When the second axis passes through the centroid of the object, considering only this distance as a parameter, the efficiency is the greatest.

A second alternative preferred embodiment of modes 1 through 4 is provided, provided that the first axis and the second axis do not intersect each other. In this case, the tilt angle is defined as an acute angle between the first axis and the second axis when viewed in the direction of the shortest line connecting the first and second axes. Another way to account for this geometric relationship is to consider a point on the first axis and consider a virtual line passing through this point and parallel to the second axis. Then, the tilt angle is defined as an acute angle formed when the first straight line intersects the virtual line.

A preferred embodiment of modes 1 to 4 is provided, wherein the shape of the object is such that a change in the force field formed by the moment applied to the object about the third axis on the object is rotated 360 degrees about the first axis. The period is the minimum.

A preferred embodiment of modes 1 through 4 is provided, provided that the object is substantially cylindrically symmetric about the first axis and may comprise a cylinder. It is possible that the object contains a hub, mesh and rim. Preferably, the sum of the weight of the hub and the weight of the mesh is less than the weight of the rim.

A preferred embodiment of modes 1 through 4 is provided, provided that one or more of the components in the transmission are made of a material having a high modulus of elasticity, the components comprising: an object, a shaft on which the object is mounted, along at least An output shaft of the output axis, a component of the transmission that varies the force. Materials having a high modulus of elasticity include any material having a modulus of elasticity greater than 70 GPa, preferably greater than 100 GPa. The use of a material of high modulus of elasticity as a component of the transmission acting as a varying force (which varies for the relative orientation of the components) enhances transmission efficiency, thereby increasing output torque and increasing the efficiency of the transmission.

The use of materials with high modulus of elasticity as objects increases the output torque and increases the efficiency of the transmission. The use of a material with a high modulus of elasticity as the shaft on which the object is mounted increases the output torque and increases the efficiency of the transmission. Using a material with a high modulus of elasticity as the output shaft increases the output torque and increases the efficiency of the transmission. The use of materials having a high modulus of elasticity as the other component of the transmission that acts as a varying force (which varies for the relative orientation of the components) increases the output torque and increases the efficiency of the transmission.

The material of the object is selected such that its density or density distribution is adapted to provide the output power required by the transmission. Therefore, if high output power is required, a high-density material (for example, steel) can be used. However, it is difficult to form the steel into a desired shape, so the manufacturing process is expensive. Therefore, for low output power requirements, thermoplastic materials can be used instead.

By means of the transmission, undesired vibrations may result from unbalanced forces in the transmission due to: (a) the components of the transmission lack symmetry around at least one output axis, and/or (b) reaction The moment is perpendicular to at least one output axis. The above problem can be solved by mounting/fixing the transmission by means of the mounting means of the transmission, preferably by firmly mounting the transmission to a fixed bracket. The fixed bracket can be one of the following: floor, floor, wall, ceiling, housing, container, other form of bracket (eg, shelf, frame or skeleton).

A preferred embodiment of modes 1 through 4 is provided, provided that one or more counterbalance masses are installed for rotation about the second axis. By reducing the lack of symmetry and causing centripetal forces capable of balancing the reaction torque, these balancing masses can have the effect of at least partially compensating for these unbalanced forces.

The rotation of the object about the first axis is represented by a vector of so-called spin vectors. This spin vector is identical to the angular velocity vector associated with the angular motion of the object about the first axis. Although the object rotates about the first axis, if the moment is applied to the object in a manner that increases the angle of inclination, the object will begin to rotate about the second axis. The rotation of the object about the second axis is represented by a vector hereinafter referred to as the output motion vector. This output motion vector is the same as the angular velocity vector associated with the angular motion of the object about the second axis.

When a transmission is established, the angle between the moment vector (= applied moment vector) applied to the object about the third axis and the output motion vector may not be 90 degrees due to manufacturing tolerances. If the angle between the applied moment vector and the output motion vector is close to 90 degrees, the output power of the second axis is increased and the efficiency of the transmission is enhanced. When this angle is 90 degrees, only this angle is taken as a parameter, and the output power and efficiency are both maximum.

A preferred embodiment of modes 1 through 4 is provided, provided that the transmission includes adjustment means for adjusting the moment applied to the object about the third axis.

In order to reduce the complexity of the control unit of the motor, a multi-function mechanism can be used, thereby applying a torque in a manner of increasing the tilt angle, limiting the reaction motion in a manner of reducing the tilt angle, and depending on the desired output speed/output torque and / or the desired reaction speed / reaction torque to adjust the tilt angle to the desired value.

The multi-function mechanism includes: a means for applying a moment about the tilt axis, and a means for mechanically limiting the rotation of the object about the tilt axis to between the lower limit angle value and the upper limit angle value, and an angle Adjusting means for adjusting the angle values to a selected lower limit angle value between 0 and 90 degrees (excluding 0 degrees and 90 degrees) during operation of the motor and a selected lower limit angle value The upper angle value between 90 degrees.

The multi-function mechanism preferably includes force, torque, position, motion, speed, and touch sensors.

In a preferred embodiment of modes 1 through 4, the means for mechanically restricting the rotation of the object about the tilt axis in two ways is at least one abutment.

Another option may be formed, either alone or in combination with one or both of the above solutions, to reduce unwanted vibrations caused by power imbalances. This solution provides a plurality of transmissions that are mounted together and operate substantially at the same frequency but at different individual phases. In this case, any such vibration can be minimized if the phases of the transmission are equally spaced. Thus, for systems with four transmissions, these phases can be 0 degrees, 90 degrees, 180 degrees, and 270 degrees.

Accordingly, the present invention can be extended to assemblies of a plurality of transmissions of the type described above incorporating means for rotating each transmission at substantially the same rotational frequency but different individual phase angles, and one for combining these The means of output power of the transmission.

In this case, the preferred number of transmissions is four, and these transmissions can advantageously be configured as an array of 2X2.

When using a system of more than one transmission, for each pair of transmissions, the angular variation between the output motion vectors of the transmissions is kept as small as possible during operation of the transmission, increasing the output Power and enhance efficiency.

When more than one transmission system is used, for at least one pair of transmissions, the angular variation between the output motion vectors of the transmission during operation of the transmission is preferably less than 5 degrees.

When using a system with more than one transmission, for each pair of transmissions, the distance between the centroids of the transmissions is kept as small as possible during operation of the transmission, which increases the output power. And improve efficiency.

The invention can be extended to a vehicle driven by the output of the above-defined transmission and its assembly, such as road vehicles, airplanes, water vehicles.

The invention may additionally be extended to a generator driven by the output power of the above-described transmission and its assembly.

A preferred embodiment of modes 1 through 4 is provided by a transmission (more preferably a motor unit) comprising: a second axis that is the axis of rotation of the second rotating bracket; a first axis that is rotated An axis of rotation of the object disposed in the first rotating bracket, whereby the first axis is rotatable, forming an oblique angle between the first axis and the second axis; and a tilting axis is perpendicular to the second axis, thereby Applying a torque to the first axis about the tilt axis in a manner that increases the tilt angle; and limiting means for limiting rotation about the tilt axis in a manner that reduces the tilt angle, whereby the object is rotated at an angular velocity greater than the critical angular velocity, The result is a decreasing angle of inclination whereby the second axis that is firmly coupled to the second bracket and/or the tilt axis is at least one output axis.

Due to the inertia of the object, a point in time at which a moment is applied about the third axis, and a moment in which a moment is applied about the third axis to cause the first axis to produce a desired rotational speed about at least one output axis of the transmission, There is a delay between these two points in time, so in some cases it may be advantageous to reduce this time delay by providing additional external torque to the object about the second axis of the transmission to initiate or accelerate the first The axis rotates about at least one output axis of the transmission.

Accordingly, a preferred embodiment of modes 5 through 12 is provided, provided that the method additionally includes applying an additional external moment to the object about the second axis to effect an initial acceleration.

An additional external torque is applied to the object about at least one output axis of the transmission, and an initial acceleration can be applied to the object about at least one output axis of the transmission. This can be achieved, for example, by rotating the output shaft of the transmission manually or by means of an additional motor.

A preferred embodiment of modes 5 through 12 is provided, provided that the method additionally includes controlling the source of power to cause the object to rotate about the first axis at an angular velocity greater than its critical angular velocity.

A preferred embodiment of modes 5 through 12 is provided, provided that the method additionally includes selecting a tilt angle greater than 10 degrees and less than 80 degrees, the tilt angle representing the selected tilt angle.

A preferred embodiment of modes 5 through 12 is provided, provided that the method additionally includes controlling the magnitude of the moment applied to the object about the third axis.

A preferred embodiment of modes 5 through 12 is provided, provided that the method additionally includes limiting rotation of the object about the third axis such that the angle of inclination of the first axis relative to the second axis is greater than 10 degrees and less than 80 degrees.

A preferred embodiment of modes 5 through 12 is provided, provided that the method additionally includes adjusting the tilt angle. The method can additionally include generating a desired output angular velocity of one of the output axes about the at least one output axis by adjusting the tilt angle. Thus, after selecting the desired output speed of one of the output axes about at least one of the output axes, i.e., selecting the desired output speed about the second or third axis, depending on the selected output speed Adjust the tilt angle. The method can additionally include generating a desired output torque of one of the output axes about the at least one output axis by adjusting the tilt angle. Thus, after selecting the desired output torque about one of the output axes of at least one of the output axes, i.e., selecting the desired output torque about the second or third axis, based on the selected output torque Adjust the tilt angle.

A preferred embodiment of modes 5 through 12 is provided, provided that the method additionally includes adjusting the speed of the object about the first axis. The method can additionally include generating a desired output angular velocity of one of the output axes about the at least one output axis by adjusting the angular velocity of the object about the first axis. Thus, after selecting the desired output speed of one of the output axes about at least one of the output axes, i.e., selecting the desired output speed about the second or third axis, depending on the selected output speed Adjust the speed of the object about the first axis. The method can additionally include generating a desired output torque about one of the output axes of the at least one output axis by adjusting the angular velocity of the object about the first axis. Thus, after selecting the desired output torque about one of the output axes of at least one of the output axes, i.e., selecting the desired output torque about the second or third axis, based on the selected output torque Adjust the speed of the object about the first axis.

A preferred embodiment of modes 5 through 12 is provided, provided that the method additionally includes adjusting the moment applied to the object about the third axis. The method can additionally include generating a desired output angular velocity of one of the output axes about the at least one output axis by adjusting a moment applied to the object about the third axis. Thus, after selecting the desired output speed of one of the output axes about at least one of the output axes, i.e., selecting the desired output speed about the second or third axis, depending on the selected output speed Adjust the moment applied to the object about the third axis. The method can additionally include generating a desired output torque about one of the output axes of the at least one output axis by adjusting a moment applied to the object about the third axis. Thus, after selecting the desired output torque about one of the output axes of at least one of the output axes, i.e., selecting the desired output torque about the second or third axis, based on the selected output torque Adjust the moment applied to the object about the third axis.

A preferred embodiment of modes 5 through 12 is provided that, if the rotation of the object is restricted about the third axis, additionally includes preventing the object from rotating about the third axis in a manner that reduces the angle of inclination.

A preferred embodiment of modes 5 through 12 is provided, provided that the method additionally includes utilizing some of the provided rotational power to perform rotation of the object about the first axis in the operational state. In this case, preferably, the amount of power used is sufficient to overcome the energy loss caused by the friction of the object as it rotates about the first axis.

Increasing the rigidity of the frame increases the output power and increases efficiency. The frame plane is defined as a plane that passes through any three points on the frame that are not collinear. For all possible frame plane pairs, the angular change between the normal vector of the first plane and the normal vector of the second plane is kept as small as possible during the operation of the transmission, only considering this angle as When the parameters are used, the output power can be increased and the efficiency can be improved. Accordingly, a preferred embodiment of modes 5 through 12 is provided, provided that the method additionally includes maintaining an angular variation between the normal vector of the first plane and the normal vector of the second plane to less than 5 degrees.

During operation of the transmission, the oscillation of the output shaft relative to the frame is reduced, which increases output power and increases efficiency. For all possible frame planes, the angular variation between the output motion vector and the normal of the frame plane is kept as small as possible during operation of the transmission, increasing output power and increasing efficiency. For all possible frame planes, during operation of the transmission, if the angle between the output motion vector and the normal of the frame plane does not change, the efficiency is greatest when only considering this angle as a parameter. Accordingly, a preferred embodiment of modes 5 through 12 is provided, provided that the method additionally includes maintaining an angular variation between the output angular velocity vector about the at least one output axis and the normal vector of the frame plane at less than 5 degrees.

A preferred embodiment of modes 5 through 12 is provided, provided that the method additionally includes maintaining an angular variation between the angular velocity vector of the angular motion of the object about the first axis and the normal vector of the object plane at less than 5 degrees.

For the method of providing rotation in accordance with the present invention, it is important to consider an angular velocity of the so-called "critical output speed" about the second axis. When a load is coupled to the output shaft along the second axis, the importance of the critical output speed about the second axis is known. If the resistance of the load connected to the output shaft along the second axis is such that the output velocity of movement about the second axis is reduced below the critical output speed about the second axis, the reaction torque will be stopped and the motor will be The efficiency is getting worse. The critical output speed around the second axis can be compared to the idle speed of the car engine.

The "critical output speed" around the second axis can be determined as follows:

1. Spin the object about the first axis at an angular velocity greater than the critical angular velocity, causing the reaction motion to still exist.

2. Hold the object about the rotation of the second axis until the reaction movement stops. When the reaction motion is stopped, the velocity about the second axis is referred to as the critical output velocity about the second axis.

The critical output speed about the second axis may vary with the spin speed (i.e., the angular velocity of the object about the first axis), the magnitude of the applied torque, and the angle of inclination. Other influential parameters include: the structure of the system and environmental conditions.

Transmission efficiency is also related to the bending of the object relative to the first axis during operation of the transmission. The object plane is defined as a plane that passes through any three points on the object that are not collinear. For all possible object planes, during operation, the angular variation between the spin vector and the normal vector of the object plane is as small as possible, increasing output power and increasing efficiency. For all possible object planes, if the angle between the spin vector and the normal vector of the object plane does not change during operation of the transmission, the efficiency is greatest when only considering this angle as a parameter.

A preferred embodiment of modes 5 through 12 is provided wherein the method additionally includes the step of adjusting the moment applied to the object about the second axis such that a fixed or decreasing tilt angle can be achieved. In other words, the amount of torque applied about the second axis (e.g., by the load applied to the output shaft along the second axis) is selected to enable a fixed or decreasing tilt angle to be reached. That is, the magnitude of the reaction torque is made equal to or greater than the magnitude of the moment applied to the object about the third axis.

Reducing the frictional resistance of the transmission can help increase efficiency. For example, the use of magnetic bearings, and/or lubrication means such as oil or grease to lubricate the bearings, and/or to place the transmission in a vacuum container, thereby reducing frictional drag.

Since the power provided by the transmission is the product of the output torque and the output movement speed, or the product of the reaction torque and the reaction speed, in order to maximize this power, it is necessary to select the spin speed around the first axis, around the first The magnitude of the moment applied by the three axes, and a tilt angle at which the product of the output torque and the output motion speed or the product of the reaction torque and the reaction speed is maximized.

A preferred embodiment of modes 1 to 4 is provided wherein the transmission additionally includes means for adjusting the spin speed, means for adjusting the moment, and means for adjusting the tilt angle. In this case, a means can be provided for selecting the desired output speed of the transmission and/or the desired output torque, and adjusting the spin speed, the applied moment and the tilt angle. Moreover, a means may be provided for selecting the desired reaction speed of the transmission and/or the desired reaction torque, and adjusting the spin speed, the applied moment and the tilt angle accordingly.

A preferred embodiment of mode 13 is provided, provided that the object can be coupled to a separate rotary motor and can be separate from the separate rotary motor.

A preferred embodiment of mode 13 is provided, provided that the test device includes coupling means for creating a coupling between the object and a separate rotary motor, wherein the coupling means can be formed as a plug-in coupling.

A preferred embodiment of mode 13 is provided in the event that the object is temporarily (preferably initially) driven by the separate rotary motor.

A preferred embodiment of mode 13 is provided, provided that the test device includes one or more measuring means for measuring one or more of the following parameters: angular velocity of the object about the spin axis, and rotation of the object about the spin axis The angular velocity of the output shaft, the manner of rotation of the output shaft, the angular velocity about the tilt axis, the manner of rotation about the tilt axis, and the time course of one or more previous parameters.

A preferred embodiment of mode 13 is provided, provided that the change in one or more of the following parameters of the object can be exchanged: mass, geometry, modulus of elasticity, moment of inertia, density profile.

A preferred embodiment of mode 13 is provided that the position of the object along the spin axis can be varied.

A preferred embodiment of mode 13 is provided, provided that the position of the object relative to the structure of the lever arm is variable.

A preferred embodiment of mode 13 is provided, provided that the test device includes limiting means for limiting the movement of the spin axis about the tilt axis to a final tilt angle.

A preferred embodiment of mode 13 is provided, provided that the test device includes force measuring means for measuring the force exerted by the support means of the object at the final tilt angle.

A preferred embodiment of the method 13 is provided, provided that the restraining means includes a stop member disposed on the output shaft or support means of the object and cooperating with the output shaft and/or support means of the object.

A preferred embodiment of mode 13 is provided, provided that the test device includes means for applying a moment about the tilt axis whereby the applied torque is independent of the mass of the object.

The term "bracket" according to modes 13 and 14 is intended to represent any supporting means for supporting an object, such as gimbals.

A preferred embodiment of mode 14 is provided, provided that the method additionally includes determining an angular velocity of the object about the spin axis where no rotation of the spin axis about the tilt axis is observed, and the determined angular velocity is the critical angular velocity.

A preferred embodiment of mode 14 is provided, provided that the method additionally comprises: determining a critical angular velocity of the object for different values of one or more of the following parameters, including: lever arm, initial tilt angle of the spin axis .

A preferred embodiment of the method 14 is provided, provided that the method additionally comprises determining the ratio of the angular velocity of the object about the spin axis to the angular velocity of the output shaft based on different parameters, particularly based on the initial or final tilt angle.

The above and other features and advantages of the present invention will become more apparent from the detailed description of the preferred embodiments illustrated herein.

Referring to Figure 1, the transmission 1 comprises an object 2 in the form of a solid cylindrical wheel mounted coaxially on a rotating shaft 3 for rotation therewith about a first axis 4. The rotary shaft 3 is mounted in an inner bracket 5 by an inner bearing 6. The inner bracket 5 is mounted in an outer bracket 7 by an outer bearing 8 for restricting rotation of the inner bracket 5 about the tilt axis 16. Moreover, the second carriage 7 is then mounted in a frame 9 through the frame bearing 10 such that it can rotate relative to the frame 9 about a second axis 11 which forms an output axis of the transmission 1. In addition to the second axis 11, the tilting axis 16 constitutes an output axis of the transmission 1.

The rotating shaft 3 of the wheel 2 is caused to rotate about the first axis 4 by the electric motor 12 or any other source of input power. This electric motor 12 can be powered by a battery. The rotary shaft 3 is mounted at an oblique angle θ with respect to the second axis 11 of the transmission 1, whereby the inclination angle θ is greater than 0 degrees and less than 90 degrees.

As can be seen more clearly in Figure 2, the axis of rotation of the wheel 2 is along the first axis 4. This wheel 2 is mounted such that the first axis 4 intersects the second axis 11 at the centroid CM of the wheel 2. Figure 2 shows a plane 13 spanned by the second axis 11 and the tilt axis 16 to more clearly show the position of the wheel 2 in space and only show three vectors along the direction of the three-dimensional Cartesian coordinate system, To show the relative orientation of the axes 4, 11, 16.

In the transmission 1 shown in Fig. 1, the hydraulic ram 15 is used to apply a moment about the third axis 16 to the rotating shaft 3, and thereby also applies a torque to the wheel 2. This third axis 16 is defined as a tilt axis which is perpendicular to the first axis 4 and the second axis 11 at the same time. The moment applied by the ram 15 is implemented by increasing the inclination angle θ.

The applied torque enables the first axis 4 to rotate about the second axis 11 of the transmission 1.

The hydraulic ram 15 is used to additionally prevent the first axis 4 from rotating about the tilt axis 16 in a manner that opposes the applied moment (ie, the manner in which the tilt angle θ is reduced).

During operation of the transmission 1, the wheel 2 first rotates about the first axis 4 until it exceeds a predetermined critical rotational speed ω _c . Then, the hydraulic ram 15 is activated to indirectly apply a torque to the wheel 2 about the tilt axis 16 in such a manner as to increase the inclination angle θ through the inner bearing 6 and the rotary shaft 3. This causes the first axis 4 to rotate about the output axis 11. However, since the wheel 2 rotates about the first axis 4 at a speed higher than the critical rotational speed ω _c , a reaction torque is generated which has a direction about the tilt axis 16 but is reversed (ie: reduced tilt) The component of the angle θ). This reaction torque causes the first axis 4 to rotate about the tilt axis 16 in a manner that reduces the tilt angle θ. However, this movement is then prevented by the hydraulic ram 15 as an abutment for stopping the rotation of the rotary shaft 3. As a result, the rotational speed ω _{spin of the} wheel 2, the rotational speed of the rotary shaft 3, the rotational speed of the first carriage 5, and the rotational speed ω _{out of the} second carriage 7 about the second axis 11 as the output axis are increased. . At this stage, a load can be applied to the output axis of the transmission 1.

The operation of the hydraulic ram 15 is controlled by a control unit 17, and a position signal from a sensor (not shown) mounted on the hydraulic ram 15 is supplied to the control unit 17. The control signal generated by the control unit 17 in response to the position signal affects the hydraulic pressure in the hydraulic ram 15 to rotate the inner bracket 5 relative to the outer bracket 7 to a desired tilt angle θ.

The control unit 17 provides a control signal for controlling the rotational speed of the wheel 2, the tilt angle θ, and the magnitude of the applied torque. As described above, the inclination angle θ is controlled by the hydraulic ram 15. By controlling these parameters, the output rotational speed ω _{out of the} transmission 1 can be controlled.

A feedback mechanism in the form of a belt 18, an alternator 19, an electrical harness 20 and a control unit 17 can be used to feed a portion of the output power supplied by the second axis 11 to the electric motor 12.

Figure 3 shows the orientation of the tilting axis 16 around which the moment is applied and the manner in which the moment is applied, wherein it can be seen that the wheel 2 rotates about the first axis 4 and the first axis forms between the first axis 11 (output axis). A tilt angle θ. The moment applied by the hydraulic ram 15 is applied in the direction of the arrow 21, and the reaction torque appears in the direction indicated by the arrow 22.

Although in the preferred embodiment the first axis 4 and the second axis 11 intersect at the centroid CM of the wheel 2, other configurations are also contemplated in which the first axis 4 and the second axis 11 are not Intersect, in which case either axis of the first axis 4 or the second axis 11 may pass through the centroid CM of the wheel 2, or neither the first axis 4 nor the second axis 11 will pass through the center of mass of the wheel 2 CM.

Although the transmission 1 of the preferred embodiment is shown with its output axis 11 horizontal, the output axis 11 of the transmission 1 can function in any desired orientation.

In order to separately determine and estimate the parameters of the design and operation of the transmission previously described in connection with Figures 1 to 3, a test apparatus has been developed. The design of this test device and its operational functions are shown in Figure 4.

The main feature of this structure is that the moment is applied to the tilting axis 16 by means of an object 2 (for example a solid cylindrical wheel) of mass m and mounted in an eccentric manner, and does not require any external means to apply the moment (eg: The ram 15) shown in Fig. 1. The structure shown in Fig. 4 is modified and simplified compared to the structure of the transmission shown in Fig. 3 because an external device for applying a torque is not required. Another distinct feature of the structure shown in Figure 4 is the restriction means for limiting the rotation of the spin axis 4 about the tilt axis 16.

The test apparatus can be designed in different embodiments, and two different embodiments of the test apparatus are shown in Figures 5 and 6, as will be described in detail later.

The purpose of this test set is to provide the possibility of parameter changes while measuring other parameters. To this end, specific embodiments of the test device have special devices, such as coupling devices capable of utilizing different rotating objects, adjustment devices for adjusting the lever arm, adjustable limiting means, and for measuring rotations such as different axes of rotation A measuring unit for parameters such as speed and direction of rotation.

Figure 4 shows, in a schematic manner, the situation in which a moment is applied about the tilt axis 16 by means of an object 2 of mass m. The object 2 rotates about a first axis 4 constituting a spin axis, and the spin axis 4 forms an inclination angle θ with respect to a vertical second axis 11 constituting an output axis. This spin axis 4 is rotatable about a tilt axis 16 which is simultaneously perpendicular to the spin axis 4 and the vertical output axis 11, and the spin axis 4 is rotatable about the output axis 11. Thus, the object 2 can be rotated about three different axes, that is, about the spin axis 4, about the vertical output axis 11, and about the horizontal tilt axis 16.

The object 2 is mounted on the first axis 4 and spaced apart from the intersection IP of the first axis 4, the output axis 11 and the tilt axis 16 to each other. The centroid CM of the object 2 is separated from the tilt axis 16 by a distance l , thus constituting a lever arm having a length l . The object 2 is affected by gravity, and generates gravity acting on the centroid CM of the object 2.

F _G =mg (Equation 1)

Where g is the gravitational acceleration and the average value is 9.81 m/s ² . The force F _G applied to the object 2 can apply a moment T around the tilt axis 16 which is the magnitude of the moment T

T=F _G l sin θ=mg l sin θ (Equation 2)

The moment T is applied in the direction of the arrow 21. If the object is rotated about the first axis 4 at an angular velocity ω _spin greater than the critical angular velocity ω _c , a reaction torque is generated in the direction indicated by the arrow 22 . Since the magnitude of this reaction torque is greater than the moment T caused by the weight of the object, this reaction torque reduces the inclination angle θ. If the object 2 is rotated about the first axis 4 at an angular velocity ω _spin less than the critical angular velocity ω _c , then the magnitude of this reaction torque will be less than the moment T caused by the weight of the object and the inclination angle θ will increase.

The rotation of the object 2 about the spin axis 4, the output axis 11 and the tilt axis 16 has been measured and recorded during the experiment, and the experimental results can be confirmed by the following measurements. It is assumed that the rotation of the spin axis 4 about the output axis 11 is related to the well-known precession effect in rigid body theory.

Figure 5 test equipment

Figure 5 shows an embodiment of a test apparatus that operates in accordance with the structure shown in Figure 4.

In contrast to the embodiment of the transmission shown in Fig. 1, the main difference of the measuring apparatus of Fig. 5 is that the object 2 of the test apparatus shown in Fig. 5 is mounted eccentrically to form a lever arm of length l . The term "eccentricity" here means that the centroid CM of the object 2 is not located at the intersection IP as in the case of the objects shown in Figs. 1 to 3. Therefore, the object 2 is affected by gravity, that is, the object 2 of mass m is wound. A moment is applied to the tilt axis 16 .

The test apparatus includes an object 2 (e.g., a solid cylindrical wheel) that is mounted coaxially on a rotating shaft 3 for rotation therewith. The longitudinal axis of the rotating shaft 3 is arranged along a spin axis 4 which is rotatably mounted in an inner balancing ring frame 5 by means of an inner bearing 6. The inner gimbal 5 is mounted in an outer gimbal 7 by an outer bearing 8 for rotation about the tilt axis 16. The second gimbal 7 is mounted on an output shaft 110 whose longitudinal axis is disposed along a vertical output axis 11.

The vertical output shaft 110 is supported by a bearing 40 such that the output shaft 110 is rotatable about its longitudinal axis. The bearing 40 is attached to a bracket 41 (e.g., a tripod) for holding the output shaft 110 along the vertical output axis 11. This bracket is mounted on the ground, for example by screws.

The spin axis 4 forms an angle of inclination θ with respect to the output axis 11. The object 2 is mounted on the first axis 4 and away from the intersection IP of the spin axis 4, the output axis 11 and the tilt axis 16. The centroid CM of the object 2 is separated from the tilt axis 3 by a distance l. The object 2 is affected by gravity, thus generating a gravity F _G = mg acting on the object centroid CM, where m is the mass of the object 2, and g is the gravitational acceleration, the average value of which is 9.81 m/s ² . The force F _G applied to the object 2 exerts a moment T about the tilt axis 16, the magnitude of this moment T being T = F _G Sin θ = m glsin θ.

The rotating shaft 3 includes coupling means 33 for easy coupling to an external power source. An additional power source (eg, a brace or a drill) is used to spin the object 2 about the spin axis 4 to an angular velocity ω _spin . However, the angular velocity ω _{spin of the} object 2 can also be provided by any other input power source, for example by an electric motor attached to the object 2 or the rotating shaft 3.

The test apparatus additionally includes limiting means 210 for limiting the allowable range of the tilt angle θ. This restriction means 210 (not shown in detail in FIG. 5) can be integrated into the outer bearing 8, and the restriction means 210 limits the pivotal movement of the rotary shaft 3 to a pivot between the minimum inclination angle θ _min and the maximum inclination angle θ _max Within the range.

The object 2 is rotated at an angular velocity ω _spin , and the angular velocity of the object 2 together with the moment applied to the object 2 about the tilt axis 16 produces a rotation of the output shaft 110.

Since the object 2 has a critical angular velocity ω _c associated with the tilt angle θ, the target is to determine the critical angular velocity ω _c of the object 2 . For a tilt angle between 0 and 90 degrees, the critical angular velocity ω _c can be determined as follows: First, it is assumed that the object 2 rotates around the spin axis 4 at an angular velocity ω _spin . If the angular velocity ω _spin causes the rotary shaft 3 to rotate about the tilt axis 16 by increasing the tilt angle θ (ie, downward in FIG. 5), the angular velocity ω _{spin of} the object 2 will be smaller than the critical angular velocity ω _c . If the angular velocity ω _spin causes the rotary shaft 3 to rotate about the tilt axis 16 to reduce the tilt angle θ (ie, upward in FIG. 5), the angular velocity ω _{spin of} the object 2 may be greater than the critical angular velocity ω _c . If the angular velocity ω _spin does not rotate the rotary shaft 3 about the tilt axis 16, the angular velocity ω _{spin of} the object 2 is equal to the critical angular velocity ω _c .

The decision of the critical angular velocity ω _c can be summarized in the following procedure:

Step 1: Select the value of the angular velocity ω _spin of the object 2 about the spin axis 4.

Step 2: If the angular velocity ω _spin is rotated about the tilt axis 16 to increase the tilt angle θ, the program proceeds to step 3; if the angular velocity ω _spin rotates around the tilt axis 16 to reduce the tilt angle, the program proceeds to the step 4; If the angular velocity ω _spin does not rotate about the tilt axis 16, the critical angular velocity ω _{c of} the object 2 is recognized as: ω _c = ω _spin .

Step 3: Increase the value of ω _spin and the program proceeds to step 2.

Step 4: Reduce the value of ω _spin and the program proceeds to step 2.

The critical angular velocity ω _c is related to the geometry and mass of the object 2, the density distribution of the object material, the inclination angle between the spin axis 4 and the output axis 11, the distance l (ie, the magnitude of the moment), and For example, specific environmental conditions such as ambient temperature and humidity.

An advantage of the test apparatus of Figure 5 is that the object 2 can be easily positioned using either of two different approaches. In the first mode, as shown in Fig. 5, the object 2 can be mounted on the rotating shaft 3 in an eccentric manner such that the centroid CM of the object 2 is separated from the intersection IP by a distance l . In this case, the mass m of the object 2 exerts a moment T about the tilt axis 16, the magnitude of which is T = mg l sin θ. Alternatively, the object 2 can be mounted on the rotating shaft 3 such that the centroid CM of the object 2 is located at the intersection IP, thus corresponding to the most extreme case l =0. In this case, the mass m of the object 2 does not exert a moment about the tilt axis 16. In this case, in order to apply a moment about the tilt axis 16, it is necessary to provide an external moment applying means (for example, a ram) that applies a fixed moment over the entire range of the tilt angle.

Test setup of Figure 6 Prepare

Figure 6 shows another embodiment of a test apparatus that functions in accordance with the structure shown in Figure 4.

The test apparatus of Figure 6 is similar to the test apparatus of Figure 5 except for the balance ring frames 5 and 7. In place of the balance ring frames 5 and 7, the test apparatus of FIG. 6 includes an output shaft 110 and a pivot arm 30. The pivot arm 30 is pivotally mounted to the output shaft 110 by a pivot 31 such that the pivot arm 30 is rotatable about the tilt axis 16. The pivot arm 30 extends downward beyond the pivot 31 to enable the pivot arm 30 to cooperate with the restraining means 210. In view of the mass of the pivot arm 30, the center of mass of the pivot arm 30 is positioned relative to the pivot 31 to be applied to the pivot arm 30 without torque.

The pivot arm 30 includes a bearing 32 whereby the object 2 is rotatable about a spin axis 4 which constitutes the longitudinal axis of the pivot arm 30. The position of the bearing 32 can be varied along the pivot arm to adjust the length l of the lever arm.

This test apparatus additionally includes limiting means 210 for limiting the allowable range of the tilt angle θ. The restriction means 210 can be securely coupled to the output shaft 110 or the pivot arm 30. The restricting means 210 limits the pivotal movement of the pivot arm 30 within a pivoting range between the minimum tilt angle θ _min and the maximum tilt angle θ _max . FIG. 7 shows a detailed diagram of this restriction means 210.

Preferably, the components of the test apparatus of Figures 5 and 6 (particularly object 2) are made of a material having a high modulus of elasticity (preferably greater than 70 GP), such as a hard material such as steel or aluminum.

Restrictive means

Figure 7 shows a first embodiment of the restriction means 210 for limiting the range of the tilt angle θ. The restricting means 210 includes a pair of parallel metal plate bodies 221 which are fixedly disposed on the output shaft 110 under the pivot shaft 31. The metal plates 221 are spaced apart from each other to form a vertical narrow passage, wherein the pivot arm 30 is free to move up and down about the tilt axis 16. Each of the metal plate bodies 221 includes an array of holes 213 in which the array of holes of the two metal plate bodies 221 are aligned with each other such that the metal bolts 214, 215 can slide horizontally through the two aligned holes 213. The lower metal bolt 214 is inserted into a lower position, thus forming a stop for the pivot arm 30 at a minimum tilt angle θ _min . The upper metal bolt 215 is inserted in a higher position, thus forming a stop for the pivot arm 30 at a maximum tilt angle θ _max .

FIG. 8 shows another embodiment of the restriction means 210 for limiting the range of the inclination angle θ. The function of the restriction means 210 of FIG. 8 is similar to the function of the restriction means 210 of FIG. 7, except for the position of the restriction means 210. In contrast to the pair of metal plates 221 of FIG. 7, the pair of metal plate systems of FIG. 8 are positioned directly above the pivot 31 and above the pivot 31. The lower metal bolt 214 is inserted in a lower position, thus forming a stop for the pivot arm 30 at a maximum tilt angle θ _max . The upper metal bolt 215 is inserted in a higher position, thus forming a stop for the pivot arm 30 at a minimum inclination angle θ _min .

Figure 9 shows another embodiment of the restriction means 210. The restriction means 210 comprises: a circular metal plate body 50 having an arcuate hole 51 near the circumference of the plate body 50; the first stop member 52 and the second portion Stop members 53 project from the plate body 50 and movable along the holes 51; and a bolt 54 movable between the first stop member 52 and the second stop member 53. The plate 50 is fastened to the bracket 7 outside the transmission 1 shown in FIG. 1, such that the tilt axis 16 passes through the center of the plate 50 and is perpendicular to the plane of the plate 50. The pivot 31 passes through the center of the plate along the tilt axis 16 and protrudes from the plate 50. One end of the bolt 54 is secured to the protruding pivot 31 such that the bolt 54 extends from the tilt axis 16 at 90 degrees. The length of the bolt 54 is selected such that the pivotal movement of the bolt 54 about the tilt axis 16 is limited by the first stop 52 and the second stop 53.

The position of the first stopper 52 and the second stopper 53 can be individually changed even during the operation of the transmission 1. For example, the positional change of the first stopper 52 or the second stopper 53 can be achieved by the transmission mechanism. The individual positions of the first stop 52 and the second stop 53 may determine a maximum angular extent a that allows the bolt 54 to pivot about the tilt axis 16. In this way, the allowable range of the inclination angle θ between the first axis 4 and the second axis 11 can be defined and changed even during the operation of the transmission 1.

Array

Figure 10 shows a preferred 2x2 array of four transmissions comprising four transmission types as shown in Figure 1, wherein the frames 9 of the four transmissions have been assembled into a single array frame 90. The output shaft 110 projects from the front side of the array frame 90 along the second axis 11 of the four transmissions, and the output power of each of the output shafts 110 is swiveled by the four angular gears 29 to provide individual output power for the four transmissions. Together enter a collective output shaft 36. Each of the four transmissions includes a feedback means including a belt 18 and an alternator 19 for feeding back output power into the transmission.

Force field

Figure 11 shows a force field 201 acting on a cylindrical object 2 having a thickness dx, the plane 200 of the object 2 being perpendicular to the axis of rotation of the object 2. The plane of Figure 11 shows three vectors x, y, z along the direction of the three-dimensional Cartesian coordinate system to show the orientation of this plane 100 and force field 201. The torque is applied to the object 2 about the third axis 16.

The third axis 16 travels along the x-direction of the Cartesian coordinate system and passes through point A and point B of the object plane 200. The moment vector points to the x-direction of the Cartesian coordinate system. The direction of rotation 21 caused by this moment is determined according to the right-hand rule: with the right hand, the thumb is oriented in the direction of the moment vector, and the rolled up finger shows the direction of rotation.

The force field 201 is composed of a plurality of force vectors. The four force vectors 100 to 103 of the force field 201 are exemplarily shown in FIG. For a cylindrical object 2 having a thickness dx, as shown in Fig. 11, the shape of the force field is the same as the shape of the force field occurring on the circularly curved rod body subjected to the force bending. The force vectors 100 and 101 are the force vectors of the force field 201 having a maximum value, which are directed to the positive z and negative z directions, respectively. Depending on its position on the object plane 201, the force vectors 102 and 103 are force vectors of the force field 201 having a smaller value, pointing to the positive z and negative z directions, respectively.

vector

Figure 12 shows the vector orientation associated with the rotational motion produced on the transmission of an embodiment of the present invention. Figure 12 shows a cylindrical wheel 2 of the transmission, the center of mass of which is located at the intersection IP of the first axis 4 intersecting the second axis 11 and the third axis 16. This plane is only shown to make the relative orientation of the axes 4, 11, 16 and the wheel 2 clearer.

The wheel 2 is rotated whereby the axis of rotation of this wheel 2 is along the first axis 4. The angular velocity vector of the angular movement of the wheel 2 about the first axis 4 is referred to as the spin vector V1.

The moment is applied to the wheel 2 about the third axis 16 (output axis) to increase the angle of inclination between the first axis 4 and the second axis 11, and the moment vector of the moment applied about the third axis 16 is called It is a torque vector V3 applied around the third axis.

The moment applied about the third axis 16 causes the first axis 4 to advance about the second axis 11, and the angular velocity vector of the angular movement of the first axis 4 about the second axis 11 is referred to as the output motion vector V2.

Connecting arm length

Figure 13 shows a diagram for explaining the definition of the length of the connecting arm, and Figure 13 shows the first axis 4 and the second axis 11 of the transmission according to the present invention. Both of these axes 4, 11 are located in the plane of the graph of Figure 13. The first axis 4 is pivotally mounted on the second axis 11 by a pivot such that the first axis 4 is rotatable about the center of the pivot 34 in the plane of the drawing of FIG. The first axis 4 is oriented at an oblique angle θ with respect to the second axis 11 and the first axis 4 constitutes the spin axis (= axis of rotation) of the object 2.

Figure 13 shows the outline of an object 2 which is mounted on a transmission for rotation about a spin axis 4 such that the spin axis 4 passes through the centroid CM of the object 2 and the moment of inertia of the object 2 is greatest.

Figure 13 shows that the object 2 is not symmetrical with respect to the central plane 250 (= plane through the centroid CM of the object 2 and perpendicular to the first axis 4). In this case, in two possible mounting orientations, a mounting orientation having a smaller distance between the center of mass CM of the object 2 and the third axis 16 is used, preferably through the center of the pivot 34.

There are an infinite number of planes that intersect the object 2 and are perpendicular to the spin axis 4. In these planes a plane, the central pivot 34 having the minimum distance is defined as the connection plane P _c. According to this connection plane P _c , the length of the connecting arm l _c is defined as the distance from the intersection of the connecting plane P _c and the spin axis 4 to the center of the pivot 34 . The length of the connecting arm l _c differs from the length of the lever arm because the length of the lever arm is defined as the distance between the centroid CM of the object 2 to the third axis 16 .

experiment

The following four experiments were performed using the test equipment shown in Figure 6, in which nine different objects as defined in Table 1 below were utilized.

The steel used has a density of 7850kg / m ^3, the aluminum used has a density of 2700kg / m ³ of.

Experiment 1

In this experiment, the objects were tested for two different tilt angles by measuring the critical angular velocities ω _c of the four objects A, B, C, D specified in Table 1 at two different tilt angles. This experiment was performed in the test equipment of Figure 6. The centroid CM of the object is configured to be separated from the intersection IP by a distance l of approximately 0.072 m.

In the first operation, the inclination angle θ was set to 45 degrees, and the measured values are recorded in Table 2a.

The unit "rpm" means "revolutions per minute", for example, 60 rpm corresponds to 1 Hz.

In the second operation, the inclination angle θ was set to 25 degrees, and the measured values are recorded in Table 2b.

Experiment 2

The purpose of this experiment is to show that when the angular velocity ω _spin of the object is less than the critical angular velocity ω _c , the object 2 will fall, that is, around the tilt axis 16 in the same direction of the applied force caused by gravity to the object 2 of mass m. Rotate.

This experiment can be summarized as the following steps:

1. Using an external source of power, the object 2 is rotated about the spin axis 4 up to an initial angular velocity ω _spin which is less than the critical angular velocity ω _c of the object at the initial tilt angle θ _min .

2. The object system is located at an initial tilt angle θ _min .

3. The object is released at this initial tilt angle θ _min .

4. Measure the duration between the object 2 about the tilt axis 16 from the initial tilt angle θ _min to the end of the final tilt angle θ _max .

5. During this rotation, the maximum output angular velocity ω _{out of the} output shaft 11 is measured.

These five steps have been performed for the three objects A, B, and C specified in Table 1, and the experiment having the above five steps has been performed as follows.

The object 2 is positioned on the pivot arm 30 and is spaced apart from the tilt axis 16 by a distance l = 0.072 m. The restriction means 210 are adjusted such that they limit the inclination angle θ to a range of the minimum inclination angle θ _min = 30 degrees and the maximum inclination angle θ _max = 80 degrees.

The pivot arm 30 is initially positioned at an inclination angle θ _min = 30 degrees and then released. If the object 2 is not rotated, it is affected by gravity, the object will fall, and the pivot arm 30 rotates about the tilt axis 16 and increases the tilt angle θ. The duration from the initial tilt angle θ _min = 30 degrees to the final tilt angle θ _max = 80 degrees is less than 0.5 seconds.

If the object 2 spins at an initial angular velocity ω _{spin that} is less than the critical angular velocity ωc of the object, and is released at the initial tilt angle θ _min = 30 degrees, the pivot arm 30 advances about the vertical output axis 11 and slowly increases the tilt. Angle θ. The procession of the object 2 causes the output shaft 110 to rotate at the output angular velocity ω _out . The helical motion of the pivot arm 30 is accompanied by a steady increase in the tilt angle θ which continues until the pivot arm 30 contacts the upper metal bolt 215 at the final tilt angle θ _max = 80 degrees.

Table 3 lists the experimental results for the objects A, B, and C of Table 1.

Experiment 3

Experiment 3 differs from Experiment 2 in that the initial angular angular velocity ω _{spin of the} object 2 is greater than the critical angular velocity ω _{c of the} object 2.

The purpose of this experiment is to show that when the angular velocity ω _{spin of the} object 2 is greater than the critical angular velocity ω _c , the object will rise, that is, tilted in the opposite direction of the moment caused by gravity applied to the object 2 of mass m. The axis 16 rotates. The rise of the object 2 can also be referred to as "reaction motion". This experiment also shows the effect of stopping the reaction motion, that is, significantly increasing the output angular velocity of the output shaft 110.

This experiment can be summarized as the following steps:

1. Using an external source of power, the object 2 is rotated about the spin axis 4 up to an initial angular velocity ω _spin which is greater than the critical angular velocity ω _{c of the} object 2 for the initial tilt angle θ _max .

2. The system was located at the initial inclination angle θ _max.

3. The object is released at this initial tilt angle θ _max .

4. Measure the duration between the object 2 about the tilt axis 16 from the initial tilt angle θ _max to the end of the final tilt angle θ _min .

5. During this movement of the reaction, measuring the output shaft 11 outputs the maximum angular velocity ω _out.

6. This reaction motion stops at the limit angle θ _min . When the object 2 has leaned against the restriction means at the restriction angle θ _min , the angular velocity ω _{spin of the} object 2 is measured.

7. When the reaction motion stops, the maximum output angular velocity ω _{out of the} output shaft 11 is measured.

8. When the angular velocity ω _spin 2 Objects dropped to the critical angular velocity ω _c (e.g.: losses due to friction), then the object 2 starts to fall.

The above eight steps were performed for the four objects A, B, C and D defined in Table 1. The experiment with the above eight steps has been performed as follows: The object 2 is positioned on the pivot arm 30 and spaced apart from the tilt axis 3 A distance l = 0.072m. The test apparatus additionally includes limiting means 210 for limiting the tilt angle θ to a range of a minimum tilt angle θ _min = 25 degrees and a maximum tilt angle θ _max = 30 degrees.

The pivot arm 30 is positioned at an inclination angle θ _max = 30 degrees. The object 2 is spinned to reach an initial angular velocity ω _spin greater than its critical angular velocity ω _c , and the pivot arm 30 is released at an initial tilt angle θ _max = 30 degrees. The pivot arm 30 rotates about the vertical output axis 11 and slowly reduces the tilt angle θ. Spiral pivot arm 30 so that the output shaft 110 to the output rotation angular speed ω _out. The helical motion of the pivot arm 30 is accompanied by a steady decrease in the tilt angle θ until the pivot arm 30 hits the upper metal bolt 215, and the reaction motion stops when the final tilt angle θ _min = 25 degrees (= limit angle).

Table 4 lists the experimental results for the four objects of Table 1.

Column 2 provides the initial angular velocity ω _{spin of the} object 2, wherein this initial angular velocity ω _spin is a critical angular velocity ω _c greater than the tilt angle θ _max = 30 degrees. Column 3 provides the time between the release of the object 2 at the initial tilt angle θ _max = 30 degrees and the rising end point (reaction motion) at the final tilt angle θ _min = 25 degrees. Column 4 provides the maximum output angular velocity ω _out of the output shaft 110 as observed during the ascent of the pivot arm 30. Column 5 provides the angular velocity ω _{spin of the} object 2 when the proper pivot arm 30 hits the lower metal bolt 214 only at the final tilt angle θ _min = 25 degrees. Column 6 provides the maximum output angular velocity ω _{out of the} output shaft 110 as observed after the rise of the pivot arm 30 has been stopped by the lower metal bolt 214 at the final tilt angle θ _min = 25 degrees.

As can be seen from columns 2, 3 and 4 of Table 4, increasing the initial angular velocity ω _spin increases the reaction motion, however, the maximum output angular velocity ω _out observed during the reaction motion is reduced. When the reaction motion stops at the final tilt angle, the output angular velocity ω _out is excessively increased, and when the initial angular velocity ω _spin of the object 2 is higher, the amount of increase is larger.

Experiment 4

In order to compare the suitability of different objects for the transmission of the invention, a specific critical speed ω _c,spec is defined. The specific critical angular velocity ω _c,spec (also referred to as "specific critical angular velocity") of the object is defined for a tilt angle θ and a link arm length l _c : when the tilt angle is θ and the plane is connected to the pivot When the distance of the center is l _c , the critical velocity ω _c of the object measured by the test device of Fig. 6 is used.

The purpose of this experiment is to show the measurement of the specific critical speed ω _{c,spec for} different objects with the length l _{c of the} connecting arm fixed at 25 mm and the inclination angle θ being 45 degrees. This experiment was performed using the test apparatus of FIG.

Objects E, F, G, H, J having a smaller diameter in Table 1 were used in this experiment because it was difficult to rotate a larger-sized object at a higher rotational speed.

Table 5 shows the angular velocity ω _{c, spec} critical in Table 1 for a particular object in the three measured.

The specific critical angular velocity ω _{c,spec of the} object 2 only shows the extent to which the shape of the object 2 and the mass distribution of the object 2 are suitable for efficiency. Among two different objects, an object with a smaller specific critical angular velocity ω _c,spec is considered to be more efficient in terms of object shape and mass distribution of the object. However, the specific critical angular velocity ω _{c,spec of the} object does not indicate whether the material strength of the object is suitable for the output power required by the transmission. The object must be tested for strength and rigidity under the conditions of the applied torque required for the desired output power of the transmission. If the material strength of the object is not sufficient, the efficiency of the transmission may be reduced during the operation of the transmission under load.

Due to the specific critical speed ω _c of the object _{, spec} is a characteristic of the object 2, which is determined according to the inclination angle and the length l _{c of the} connecting arm, so the specific critical speed ω _{c,spec of the} object 2 may follow the inclination angle The difference between θ and the length of the connecting arm l _c is different (θ, l _c ). Therefore, in order to compare different objects, the specific critical speed ω _c,spec of the object should be compared under the same parameter pair (θ, l _c ). Therefore, when comparing different objects, it is important to use the same parameter pair (θ, l _c ). For the same pair of parameters (θ, l _c ), an object with a smaller specific critical velocity is a more efficient object in terms of object shape and mass distribution of the object.

First, assume that two objects have different specific critical angular velocities ω _c,spec for the same parameter pair (θ, l _c ). Then, for the tilt angle θ, the magnitude of the applied torque, and the three specific parameters of the spin speed ω _spin (the three groups), the multiple values of the output speed value ω _out and the output torque value are included. The objects are different. This means that even if the tilt angle θ, the magnitude of the applied torque, and the spin speed ω _spin remain the same for both objects, the transmission may still produce different outputs for each of the two objects. Speed value ω _out and output torque value.

If the size or quality of the object to be tested is not suitable for the test device, the specific critical speed of the object can be derived by mathematical calculations from specific critical velocities of other objects, which are based on scaling factors (scaling factor). And calculated so that these other objects can be tested by the test device.

One of the variables used to determine the output power is the magnitude of the applied torque. In order to obtain greater output power, a larger torque must be used as long as other operating conditions are maintained. Moreover, for a selected tilt angle, the critical speed ω _c also increases if the magnitude of the applied torque increases. Therefore, if a torque value greater than the torque value used to determine the specific critical speed ω _c,spec is used on the same object, the new critical speed value corresponding to the new torque value will be greater than the specific critical value of the tilt angle. The speed ω _{c,spec is} larger.

During the operation of the transmission, since the object's spin speed ω _{spin is} forced to be greater than the critical speed ω _c , it has a larger specific critical speed than the object having a smaller specific critical speed ω _c,spec The object of _c,spec must be rotated at a higher speed.

In fact, it is advantageous to utilize an object having a smaller spin velocity value ω _spin because friction losses (eg, air friction, bearing friction) are known to be exponentially with the spin speed ω _spin (refer to Table 6). And increase. Moreover, a larger spin speed in the transmission (more preferably a motor unit) requires that the overall strength of the motor must be greater, but this will increase the manufacturing cost of the transmission, more preferably the motor unit.

The test apparatus for measuring a specific critical speed ω _c,spec should have the following features to enhance the accuracy of the measurement: the moment caused by the friction against the rotation about the spin axis 4 from the spin axis 4 to the second axis transmission rate of 11, will affect the specific critical speed ω _{c, spec.} In order to reduce this effect, the friction against the rotation about the spin axis 4 should be as close as possible to the theoretical optimum (zero). The friction against the rotation about the second axis 11 reduces the rotational speed about the second axis 11, and thus increases the specific critical speed ω _c,spec . In order to reduce this effect, the friction against the rotation about the second axis 11 should be as close as possible to the theoretical optimum (zero).

Table 6 lists the currents of the electric motor (=spin motor) for causing the object F to spin.

The embodiment shown in the figures has the functions mentioned in the figures. However, these embodiments have additional functions, and such additional functions are not described in the above description, but are only described within the scope of the patent application. Furthermore, all the subject matter of the claims can be implemented by the embodiment shown in the drawings or the modifications thereof.

1. . . transmission

2. . . object

3. . . Rotary axis

4. . . First axis (spin axis)

5. . . Inner bracket

6. . . Inner bearing

7. . . Outer bracket

8. . . Outer bearing

9. . . frame

10. . . Frame bearing

11. . . Second axis

12. . . electric motor

13. . . flat

15. . . Hydraulic ram

16. . . Third axis (= tilt axis)

17. . . control unit

18. . . Belt

19. . . Alternator

20. . . Electrical cable

twenty one. . . Direction of the applied torque

twenty two. . . Direction of reaction torque

29. . . Angle gear

30. . . Pivot arm

31. . . Pivot

32. . . Bearing

33. . . Coupling means

36. . . Output shaft

40. . . Bearing

41. . . support

50. . . Plate body

51. . . Hole

52, 53. . . Stopper

54. . . Belt

90. . . Array frame

100, 101, 102, 103. . . Power vector

110. . . Output shaft

200. . . flat

201. . . Force field

210. . . Restrictive means

211, 212. . . Plate body

213‧‧‧ holes

214, 215‧‧‧ bolts

221‧‧‧ board

250‧‧‧Central plane

The centroid of the object of CM‧‧

F _G ‧‧‧Gravity

l ‧‧‧distance, length

l _c ‧‧‧length of the connecting arm

IP‧‧‧ intersection

P _c ‧‧‧ connection plane

V1‧‧‧ spin vector

V2‧‧‧ output motion vector

V3‧‧‧ Torque vector applied around the third axis

‧‧‧‧angle range

θ‧‧‧Tilt angle

θ _min ‧‧‧minimum tilt angle

θ _max ‧‧‧maximum tilt angle

Ω‧‧‧ angular velocity

ω _c ‧‧‧critical angular velocity

ω _c,spec ‧‧‧specific critical angular velocity

ω _out ‧‧‧ angular velocity around the output axis

ω _spin ‧‧‧ angular velocity of the object around the spin axis 4

Figure 1 shows a schematic view of a transmission in accordance with a preferred embodiment of the present invention;

Figure 2 is a diagram showing the relative orientation of the axis of rotation of the transmission component of Figure 1;

Figure 3 shows a diagram of the direction in which the torque is applied to provide the output power of the transmission of Figure 1;

Figure 4 shows another pattern of applied torque;

Figure 5 shows an embodiment of a test device;

Figure 6 shows another embodiment of a test device;

Figure 7 shows an embodiment of the limiting means, which is a detailed description of Figure 6;

Figure 8 shows another embodiment of the restriction device;

Figure 9 shows a third embodiment of the restriction device;

Figure 10 shows an embodiment of a transmission array;

Figure 11 shows a pattern of force fields;

Figure 12 shows a pattern of vectors;

Figure 13 shows a diagram of the length of the connecting arm of the object.

1. . . transmission

2. . . object

3. . . Rotary axis

4. . . First axis (spin axis)

5. . . Inner bracket

6. . . Inner bearing

7. . . Outer bracket

8. . . Outer bearing

9. . . frame

10. . . Frame bearing

11. . . Second axis

12. . . electric motor

13. . . flat

15. . . Hydraulic ram

16. . . Third axis (= tilt axis)

17. . . control unit

18. . . Belt

19. . . Alternator

20. . . Electrical cable

Claims (70)

A motor apparatus for providing rotation about an output axis, the motor apparatus comprising: an object (2) mounted for rotation about a first axis (4) about a second axis (11) Rotating and rotating about a third axis (16), the first axis (4) being oriented at an oblique angle (θ) with respect to the second axis (11), the second axis (11) forming the output axis of the motor device , wherein the rotation of the object (2) about the third axis (16) causes a change in the tilt angle (θ); a means (15) for the first axis (4) is at a position relative to the second axis (11) a selected inclination angle (θ) greater than zero degrees and less than 90 degrees, applying a moment (21) around the third axis (16) to the object (2) in a manner of increasing the inclination angle (θ); and a means (210) for limiting the rotation of the object (2) about the third axis (16) in a manner that reduces the tilt angle (θ), resulting in a tilt angle of the first axis (4) relative to the second axis (11) ( θ) is still greater than zero degrees and less than 90 degrees, the device is constructed to enable a power source to be coupled to the object (2), and to rotate the object (2) about the first axis (4), and thereby the object (2 Rotating around the first axis (4) at an angular velocity (ω _spin ) greater than a critical angular velocity (ω _c ), resulting in a fixed or decreasing tilt angle (θ), thereby initiating or increasing the output angular velocity (ω) _Out ) or an object (2) as an output torque that rotates about the second axis (11) as the output axis, characterized in that the object (2) has a specific critical angular velocity (ω _c,spec ) of less than 20,000 revolutions per minute, thereby increasing the output power about an output axis, whereby the specific critical angular velocity (ω _{c, spec)} is defined as follows: the specific critical angular velocity (ω _{c, spec)} is critical to this object (2) angular velocity (ω _c) when When the inclination angle (θ) of the first axis (4) with respect to the second axis (11) is 45 degrees, when the first axis (4) substantially passes through the centroid (CM) of the object (2), when the object ( 2) When oriented such that the moment of inertia of the object (2) is substantially maximum, the object (2) is not symmetrical to the centroid (CM) of one passing object (2) and perpendicular to the first axis (4) The plane of the object (2) in the two possible mounting orientations on the first axis (4), between the centroid (CM) of the object (2) and the third axis (16) Installation position distance is used, and when a) If the object (2) is smaller than 0.1kg mass, the connection arm length (l 5mm _c) is, b) if the object (2) is equal to or greater than 0.1kg mass and less than 100kg , the length of the connecting arm ( l _c ) is 25 mm, c) if the mass of the object (2) is equal to or greater than 100 kg and less than 1000 kg, the length of the connecting arm ( l _c ) is 50 mm, or d) if the mass of the object (2) When the value is equal to or greater than 1000 kg, the length of the connecting arm ( l _c ) is 100 mm, whereby the length of the connecting arm ( l _c ) is a cross between the connecting plane (P _c ) and the first axis (4) to the third axis (16). distance of a point, and wherein any of the object and intersects the plane perpendicular to the first axis (4), to the third axis (16) having a planar connecting plane for the smallest distance (P _c). The apparatus of claim 1, further comprising a power source coupled to the object (2) such that the object (2) surrounds the first axis at the angular velocity (ω _spin ) greater than the critical angular velocity (ω _c ) (4) Rotation. The device of claim 2, further comprising feedback means (17, 18, 19, 20) for transmitting power from the rotation of the object (2) about the output axis to the power source. The device of claim 3, wherein the feedback means (17, 18, 19, 20) is configured to transmit sufficient power to the power source to overcome the tilt angle (θ), applied to the third When the torque magnitude of the axis (16) and the output angular velocity (ω _out ) around the output axis are fixed values, the energy loss due to the frictional force when the object (2) rotates around the first axis (4) . The apparatus of any one of claims 1 to 4, further comprising a control means for controlling the object (2) to rotate around the first axis at an angular velocity (ω _spin ) greater than the critical angular velocity (ω _c ) (4) The power source for rotation. The apparatus of any one of claims 1 to 4, wherein the moment applying means (15) is configured to wrap around when the selected tilt angle (θ) is between more than 10 degrees and less than 80 degrees A third axis (16) applies a moment (21) to the object (2). The apparatus of any one of claims 1 to 4, further comprising a control means for controlling the magnitude of the moment (21) applied by the moment applying means (15). The apparatus of any one of claims 1 to 4, wherein a restriction means (210) is provided to limit rotation of the object (2) about the third axis (16), causing the first axis (4) Tilt angle (θ) with respect to the second axis (11) The system is greater than 10 degrees and less than 80 degrees. The apparatus of any one of claims 1 to 4, further comprising an adjustment means for adjusting the inclination angle (θ). The apparatus of claim 9, further comprising means for selecting a desired angular velocity of output (ω _out ) about the output axis and adjusting the adjustment means according to the selected output angular velocity (ω _out ) Tilt angle (θ). The apparatus of claim 9, further comprising means for selecting an output torque desired by the apparatus and adjusting the tilt angle (θ) according to the selected output torque. The device of any one of claims 1 to 4, wherein the means (15) for applying a moment (21) about the third axis (16) comprises a spring. The apparatus of any one of claims 1 to 4, wherein the means (15) for applying a moment (21) about the third axis (16) comprises a hydraulic ram, a pneumatic ram, an electromagnetic ram One or more of them. The apparatus of any one of claims 1 to 4, wherein the restricting means (210) is configured to prevent any object (2) from rotating around the third axis (16) in a manner that reduces the tilt angle (θ) Rotate. The device of any one of claims 1 to 4, wherein the means (15) for applying a moment (21) about the third axis (16) is additionally used as a limiting means (210). The apparatus of any one of claims 1 to 4, wherein the restricting means (210) comprises an abutment. The device of any one of claims 1 to 4, wherein the first axis (4) substantially passes through the centroid (CM) of the object (2). The device of any one of claims 1 to 4, wherein the second axis (11) substantially passes through the centroid (CM) of the object (2). The apparatus of any one of claims 1 to 4, wherein the first axis (4) and the second axis (11) intersect each other. The apparatus of any one of claims 1 to 4, wherein the first axis (4) and the second axis (11) do not intersect each other, and the inclination angle (θ) is defined as along the connection An acute angle between the first axis (4) and the second axis (11) when viewed in the direction of the shortest line of the axis (4) and the second axis (11). The device of any one of claims 1 to 4, wherein the object (2) substantially forms a cylindrical symmetry about the first axis (4). The device of any one of claims 1 to 4 wherein the object (2) comprises a hub, a mesh and an annular rim. The apparatus of any one of claims 1 to 4, wherein the object (2) is made of a material having an elastic modulus greater than 70 GPa. A device according to any one of claims 1 to 4, further comprising means for installing the device. The apparatus of any one of claims 1 to 4 further comprising one or more counterbalance masses mounted to rotate about the second axis. The apparatus of any one of claims 1 to 4, wherein the vector of moments applied to the object (2) about the third axis (16) and the angular velocity of output about the second axis (11) ( The angle between the vectors of ω _out ) is between 85 and 93 degrees. The apparatus of any one of claims 1 to 4, wherein the object (2) is mounted on a shaft (3, 30) made of a material having an elastic modulus greater than 70 GPa. . The apparatus of any one of claims 1 to 4, wherein an output shaft (110) along the output axis is made of a material having an elastic modulus greater than 70 GPa. The device of any one of claims 1 to 4, wherein some of the components of the device to which the varying force acts are made of a material having an elastic modulus greater than 70 GPa. The device of any one of claims 1 to 4, further comprising one or more sensors for measuring one or more of the following parameters: about the first axis (4), the second axis ( 11) and the rotation of the third axis (16), the angular velocity of rotation about the first axis (4), the second axis (11) and the third axis (16), the object (2), the first axis (4) The position of the second axis (11) and the third axis (16), the rotational moment about the first axis (4), the second axis (11), and the third axis (16), and a force. The apparatus of any one of claims 1 to 4, further comprising a means for restricting the rotation of the object (2) about the tilt axis (16) to a lower limit angle value and an upper limit angle by two means. Between values, and an angle adjustment means for adjusting the limit angle values to a selected lower limit angle value greater than 0 degrees and less than 90 degrees and a greater than the selected lower limit angle value during operation of the apparatus Upper limit angle less than 90 degrees Degree value. A device according to claim 31, wherein the means for mechanically restricting the rotation of the object (2) is one or more abutments. An assembly of two or more motor devices, each of which includes a device according to any of the above-identified patents, and coupled to rotate the devices at substantially equal rotational speeds but at different phase angles And means for combining the output angular velocity (ω _out ) of the device and the output torque. A device as claimed in any one of claims 1 to 4, or a vehicle driven by an assembly as claimed in claim 33. For example, the vehicle of claim 34 is in the form of a land vehicle. For example, the vehicle of claim 34 is in the form of an aircraft. A vehicle as claimed in claim 34, in the form of a water-borne vehicle. A generator comprising the apparatus of any one of claims 1 to 4, or an assembly as claimed in claim 33. A method for providing rotation about an output axis, the method comprising the steps of: mounting an object (2) for rotation about a first axis (4), rotating about a second axis (11), and Rotating about the third axis (16), the first axis (4) is oriented at an oblique angle (θ) with respect to the second axis (11), and the second axis (11) constitutes the output axis, wherein the object (2) Rotation about the third axis (16) causes a change in the tilt angle; the object is rotated about the first axis (4) at an angular velocity greater than a critical angular velocity (ω _c ); when the first axis (4) is opposite When the second axis (11) is at a selected inclination angle (θ) greater than zero degrees and less than 90 degrees, a moment (21) around the third axis (16) is applied to increase the inclination angle (θ). On the object (2); and limiting the rotation of the object (2) about the third axis (16) in a manner that reduces the tilt angle (θ), causing the tilt angle of the first axis (4) relative to the second axis (11) ([theta]) is still greater than zero and less than 90 degrees, so that the inclination angle can reach a fixed or decreasing ([theta]), thereby initiating or increasing the output angular velocity (ω _out) or objects (2) around Two axis (11) as the output torque of the output rotation of the axis; wherein the method further comprises the steps of: using an object having a less than 20,000 revolutions per minute of the specific critical angular velocity (ω _{c, spec)} of (2), by this increases the output power about the axis, wherein the specific critical angular velocity (ω _{c, spec)} is defined as follows: the specific critical angular velocity (ω _{c, spec)} is critical to this object (2) angular velocity (ω _c), when When the inclination angle (θ) of the first axis (4) with respect to the second axis (11) is 45 degrees, when the first axis (4) substantially passes through the centroid (CM) of the object (2), when the object ( 2) When oriented such that the moment of inertia of the object (2) is substantially maximum, the object (2) is not symmetrical to the centroid (CM) of the passing object (2) and perpendicular to the first axis (4) Plane, in the two possible mounting orientations in which the object (2) is mounted on the first axis (4), produces a small difference between the centroid (CM) and the third axis (16) of the object (2) The mounting orientation of the distance is used, and when a) if the mass of the object (2) is less than 0.1 kg, the length of the connecting arm ( l _c ) is 5 mm, b) if the mass of the object (2) is equal to or If it is larger than 0.1kg and less than 100kg, the length of the connecting arm ( l _c ) is 25mm, c) if the mass of the object (2) is equal to or greater than 100kg and less than 1000kg, the length of the connecting arm ( l _c ) is 50mm, or d) If the mass of the object (2) is equal to or greater than 1000 kg, the length of the connecting arm ( l _c ) is 100 mm, whereby the length of the connecting arm ( l _c ) is a connecting plane (P _c ) and the first axis (4) to the third The distance of the intersection of the axis (16), and wherein in any plane intersecting the object and perpendicular to the first axis (4), the plane having the smallest distance to the tilt axis (16) is the connection plane (P _c ) . The method of claim 39, further comprising: applying an additional external moment to the object (2) about the second axis to perform an initial acceleration. The method of claim 39, further comprising: controlling the power source such that the object (2) rotates about the first axis (4) at an angular velocity (ω _spin ) greater than a critical angular velocity (ω _c ). The method of any one of claims 39 to 41, further comprising: A selected tilt angle (θ) greater than 10 degrees and less than 80 degrees is selected. The method of any one of claims 39 to 41, further comprising: controlling the magnitude of the moment (21) applied to the object (2) about the third axis (16). The method of any one of claims 39 to 41, further comprising: restricting rotation of the object (2) about the third axis (16) such that the first axis (4) is opposite the second axis (11) The tilt angle (θ) is greater than 10 degrees and less than 80 degrees. The method of any one of claims 39 to 41, further comprising: adjusting the tilt angle (θ). The method of claim 45, further comprising: generating a desired output angular velocity (ω _out ) about the output axis by adjusting the tilt angle (θ). The method of claim 45, further comprising: generating a desired output torque about the output axis by adjusting the tilt angle (θ). The patented method of any one of a range of 39 to 41, further comprising: adjusting the angular velocity of this object (2) about a first axis (4) (ω _spin). The method of claim 48, further comprising: generating a desired angular velocity of output (ω _out ) about the output axis by adjusting an angular velocity (ω _spin ) of the object (2) about the first axis (4) ). The method of claim 48, further comprising: generating a desired output torque about the output axis by adjusting an angular velocity (ω _spin ) of the object (2) about the first axis (4). The method of any one of claims 39 to 41, further comprising: adjusting a moment (21) applied to the object (2) about the third axis (16). The method of claim 51, further comprising: generating a desired angular velocity of output about the output axis by adjusting a moment (21) applied to the object (2) about the third axis (16) (ω _out ). The method of claim 51, further comprising: generating a desired output torque about the output axis by adjusting a moment (21) applied to the object (2) about the third axis (16) . The method of any one of claims 39 to 41, wherein the rotation of the restriction object (2) about the third axis (16) additionally comprises: preventing any object (2) from decreasing the inclination angle (θ) The mode rotates about the third axis (16). The method of any one of claims 39 to 41, further comprising: a magnitude of a tilt angle (θ), a moment (21) applied about the third axis (16), and around the output When the output angular velocity (ω _out ) of the axis is a fixed value, some of the rotational power provided around the output axis is utilized to perform the rotation of the object (2) about the first axis (4). The method of claim 55, wherein the total amount of rotational power used is sufficient to overcome the rotation of the object (2) about the first axis (4) Energy loss caused by friction. The method of any one of claims 39 to 41, further comprising: applying a moment (21) to the object (2) about the third axis (16), the system being exclusively by the object ( The weight of 2) applies a moment, or by an external means and additionally by the weight of the object (2). The method of any one of claims 39 to 41, further comprising: measuring one or more of the following parameters: about the first axis (4), the second axis (11), and the third axis (16) Rotation; angular velocity of rotation about the first axis (4), the second axis (11), and the third axis (16); the object (2), the first axis (4), the second axis (11), and the third The position of the axis (16); the rotational moment about the first axis (4), the second axis (11), and the third axis (16); and a force. The method of any one of claims 39 to 41, further comprising: mechanically limiting the rotation of the object (2) about the tilt axis (16) to both an upper limit angle value and a lower limit angle value. And during the operation of the motor device, adjusting the limit angle values to a selected lower limit angle value greater than 0 degrees and less than 90 degrees and a greater than the selected lower limit angle value and An upper angle value less than 90 degrees. The method of any one of claims 39 to 41, further comprising: increasing the output around the object by reducing the distance between the centroid (CM) of the object (2) and the second axis (11) The output power supplied by the axis. The method of any one of claims 39 to 41, further comprising: increasing the angle around the output axis by reducing an angular change between a normal vector of the first frame plane and a normal vector of the second frame plane The supplied output power, the frame plane is defined as a plane that is not collinear three points through the frame in which the motor device is mounted. The method of claim 61, further comprising: changing the angle by less than 5 degrees. The method of any one of claims 39 to 41, further comprising: by reducing an angular change between a vector of output angular velocities (ω _out ) about the output axis and a normal vector of a frame plane, The output power supplied about the output axis is increased, and the frame plane is defined as a plane that is not collinear three points through the frame in which the motor device is mounted. The method of claim 63, further comprising: maintaining the angular change to less than 5 degrees. The method of any one of claims 39 to 41, further comprising: reducing the angular velocity of the object (2) by angular movement about the first axis (4) The angular change between the vector and the normal vector of an object plane increases the output power supplied about the output axis, which is defined as a plane of three points that are not collinear through the object (2). The method of claim 65, further comprising: maintaining the angular change to be less than 5 degrees. A test device for determining a design and operation parameter of a motor device, wherein the motor device comprises: an output shaft rigidly coupled to an outer bracket; a spin axis configured to rotate in the inner tray An axis of rotation of the object in the frame; and a tilt axis perpendicular to the output shaft, whereby the spin axis is rotatable, and an angle of inclination is formed between the spin axis and the output shaft, the spin axis being coupled to an object And applying a moment about the tilt axis, the test apparatus comprising: an output axis (11) forming a longitudinal axis of a vertical output shaft (110); a spin axis (4) forming a spin axis (4) the axis of rotation of the supported object (2); a tilting axis (16) perpendicular to the output axis (11) and around the spin axis (4) at the spin axis (4) and the output shaft A tilt angle (θ) pivot is formed between (11), characterized in that the object (2) can be arranged eccentrically with respect to the tilt axis (16), whereby a lever arm having a length l greater than zero is formed. A method for determining parameters of a design and operation of a motor device, whereby the motor device includes: an output shaft that is securely coupled to an outer bracket; a spin axis that is disposed in a rotating bracket An axis of rotation of the object; and a tilt axis perpendicular to the output shaft, whereby the spin axis is rotatable, and an angle of inclination is formed between the spin axis and the output shaft, the spin axis being coupled to an object, and Applying a moment about this tilting axis, using a test device as described in claim 67, characterized in that the angular velocity (ω _spin ) of the object (2) about the spin axis (4) is adjusted to be different a value by which the rotation of the spin axis (4) about the tilt axis (16) is measured, and for each different value, whether the adjusted angular velocity (ω _spin ) is greater or smaller than the critical angular velocity (ω _c ) is determined for each different value. . a motor device for providing rotation about an output axis, the device comprising: an object (2) mounted for rotation about a first axis (4), for rotation about a second axis (11), and Rotating about a third axis (16), the first axis (4) is oriented at an oblique angle (θ) with respect to the second axis (11), the second axis (11) forming an output axis of the device, wherein the object 2) rotation about the third axis (16) causes a change in the tilt angle (θ); a means (15) for when the first axis (4) is at a greater than zero degree and less than the second axis (11) At a selected tilt angle (θ) of 90 degrees, a moment (21) around the third axis (16) is applied to the object (2) by increasing the tilt angle (θ); and a means (210), For limiting the rotation of the object (2) about the third axis (16) in a manner that reduces the tilt angle (θ), such that the tilt angle (θ) of the first axis (4) relative to the second axis (11) is still greater than At zero degrees and less than 90 degrees, the device is constructed such that a power source is coupled to the object (2), and the object (2) is rotated about the first axis (4), and the object (2) is wound around the first Line (4) at an angular velocity greater than a critical angular velocity (ω _c) of the (ω _spin) is rotated so that the tilt angle to achieve a fixed or decreasing ([theta]), thereby initiating or increasing the output angular velocity (ω _out) or objects ( 2) an output torque that rotates about a second axis (11), characterized in that it is applied to the third axis (16) when the tilt angle (θ) is decreasing to obtain power about the third axis (16) The load can be used as a limiting means. A method for providing rotation about an output axis, the method comprising the steps of: mounting an object (2) for rotation about a first axis (4), rotating about a second axis (11), and Rotating about the third axis (16), the first axis (4) is oriented at an oblique angle (θ) with respect to the second axis (11), and the second axis (11) constitutes the output axis, wherein the object (2) The rotation about the third axis (16) causes a change in the tilt angle (θ); the angular velocity (ω _spin ) greater than a critical angular velocity (ω _c ) rotates the object (2) about the first axis (4); When the first axis (4) is at a selected tilt angle (θ) greater than zero degrees and less than 90 degrees with respect to the second axis (11), a strand is applied around the third axis in a manner that increases the tilt angle (θ). a moment (21) onto the object (2); limiting the rotation of the object (2) about the third axis (16) in a manner that reduces the angle of inclination (θ), such that the first axis (4) is relative to the second axis (11) the inclination angle ([theta]) is still greater than zero and less than 90 degrees, thereby to initiate or increase an output angular velocity (ω _out) or objects (2) about a second axis (11) of the rotary output torque; its Laid In addition, the method further comprises the following steps: when the tilt angle (θ) is decreasing, the winding around the third axis (16) by limiting the object (2) to reduce the tilt angle (θ) The power of the third axis (16).